Neural network motion controller

ABSTRACT

Apparatuses, systems, and techniques to animate objects in computer-generated graphics. In at least one embodiment, one or more neural networks are trained to identify one or more forces to be applied to one or more objects based, at least in part, on training data corresponding to two or more aspects of motion of the one or more objects.

TECHNICAL FIELD

At least one embodiment pertains to processors and computing systemsused to train neural networks to facilitate animation ofcomputer-generated graphics.

BACKGROUND

Training neural networks to facilitate animation of computer-generatedgraphics may result in networks which lack resiliency or which are notreadily adapted to facilitate a variety of movement types in ananimation. The training of neural networks to facilitate animation ofcomputer-generated graphics can be improved.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 illustrates an example of a system for animating a virtualobject, according to at least one embodiment;

FIG. 2 illustrates an example of motion balancing for training a systemfor animating a virtual object, according to at least one embodiment;

FIG. 3 illustrates an example of a video stream scheduler, according toat least one embodiment;

FIG. 4 illustrates an example of a command stream scheduler, accordingto at least one embodiment;

FIG. 5 illustrates an example of a motion stitching scheduler, accordingto at least one embodiment;

FIG. 6 illustrates an example of a reactive state initialization scheme,according to at least one embodiment;

FIG. 7 illustrates an example of policy variant control, according to atleast one embodiment;

FIG. 8 illustrates an example of training a system to animate a virtualobject, according to at least one embodiment;

FIG. 9A illustrates inference and/or training logic, according to atleast one embodiment;

FIG. 9B illustrates inference and/or training logic, according to atleast one embodiment;

FIG. 10 illustrates training and deployment of a neural network,according to at least one embodiment;

FIG. 11 illustrates an example data center system, according to at leastone embodiment;

FIG. 12A illustrates an example of an autonomous vehicle, according toat least one embodiment;

FIG. 12B illustrates an example of camera locations and fields of viewfor the autonomous vehicle of FIG. 12A, according to at least oneembodiment;

FIG. 12C is a block diagram illustrating an example system architecturefor the autonomous vehicle of FIG. 12A, according to at least oneembodiment;

FIG. 12D is a diagram illustrating a system for communication betweencloud-based server(s) and the autonomous vehicle of FIG. 12A, accordingto at least one embodiment;

FIG. 13 is a block diagram illustrating a computer system, according toat least one embodiment;

FIG. 14 is a block diagram illustrating a computer system, according toat least one embodiment;

FIG. 15 illustrates a computer system, according to at least oneembodiment;

FIG. 16 illustrates a computer system, according to at least oneembodiment;

FIG. 17A illustrates a computer system, according to at least oneembodiment;

FIG. 17B illustrates a computer system, according to at least oneembodiment;

FIG. 17C illustrates a computer system, according to at least oneembodiment;

FIG. 17D illustrates a computer system, according to at least oneembodiment;

FIGS. 17E and 17F illustrate a shared programming model, according to atleast one embodiment;

FIG. 18 illustrates exemplary integrated circuits and associatedgraphics processors, according to at least one embodiment;

FIGS. 19A and 19B illustrate exemplary integrated circuits andassociated graphics processors, according to at least one embodiment;

FIGS. 20A and 20B illustrate additional exemplary graphics processorlogic according to at least one embodiment;

FIG. 21 illustrates a computer system, according to at least oneembodiment;

FIG. 22A illustrates a parallel processor, according to at least oneembodiment;

FIG. 22B illustrates a partition unit, according to at least oneembodiment;

FIG. 22C illustrates a processing cluster, according to at least oneembodiment;

FIG. 22D illustrates a graphics multiprocessor, according to at leastone embodiment;

FIG. 23 illustrates a multi-graphics processing unit (GPU) system,according to at least one embodiment;

FIG. 24 illustrates a graphics processor, according to at least oneembodiment;

FIG. 25 is a block diagram illustrating a processor micro-architecturefor a processor, according to at least one embodiment;

FIG. 26 illustrates a deep learning application processor, according toat least one embodiment;

FIG. 27 is a block diagram illustrating an example neuromorphicprocessor, according to at least one embodiment;

FIG. 28 illustrates at least portions of a graphics processor, accordingto one or more embodiments;

FIG. 29 illustrates at least portions of a graphics processor, accordingto one or more embodiments;

FIG. 30 illustrates at least portions of a graphics processor, accordingto one or more embodiments;

FIG. 31 is a block diagram of a graphics processing engine of a graphicsprocessor in accordance with at least one embodiment;

FIG. 32 is a block diagram of at least portions of a graphics processorcore, according to at least one embodiment;

FIGS. 33A and 33B illustrate thread execution logic including an arrayof processing elements of a graphics processor core according to atleast one embodiment;

FIG. 34 illustrates a parallel processing unit (“PPU”), according to atleast one embodiment;

FIG. 35 illustrates a general processing cluster (“GPC”), according toat least one embodiment;

FIG. 36 illustrates a memory partition unit of a parallel processingunit (“PPU”), according to at least one embodiment;

FIG. 37 illustrates a streaming multi-processor, according to at leastone embodiment;

FIG. 38 is an example data flow diagram for an advanced computingpipeline, in accordance with at least one embodiment;

FIG. 39 is a system diagram for an example system for training,adapting, instantiating and deploying machine learning models in anadvanced computing pipeline, in accordance with at least one embodiment;

FIG. 40 includes an example illustration of an advanced computingpipeline 3910A for processing imaging data, in accordance with at leastone embodiment;

FIG. 41A includes an example data flow diagram of a virtual instrumentsupporting an ultrasound device, in accordance with at least oneembodiment;

FIG. 41B includes an example data flow diagram of a virtual instrumentsupporting an CT scanner, in accordance with at least one embodiment;

FIG. 42A illustrates a data flow diagram for a process to train amachine learning model, in accordance with at least one embodiment; and

FIG. 42B is an example illustration of a client-server architecture toenhance annotation tools with pre-trained annotation models, inaccordance with at least one embodiment.

DETAILED DESCRIPTION

FIG. 1 illustrates an example of a system for animating one or morevirtual objects, according to at least one embodiment. In at least oneembodiment, one or more virtual object represent a character, such as ahuman figure, animal figure, robot, and so forth, or a device, such as arobotic arm, a manufacturing device, and so forth. In at least oneembodiment, a character or device represented by one or more virtualobjects is animated within a virtual environment, such as a videogame orsimulation. In at least one embodiment, such environments are dynamic,in that an environment may have various changing features that ananimated character or device could interact with, react to, or overcome.

In at least one embodiment, physics-based animation is used to providerealistic motion and rich interactions with a virtual environment. In atleast one embodiment, physics-based animation is used to support a widevariety of motion types with improved performance and efficiency.

In at least one embodiment, one or more neural networks are trained todetermine amounts of force to apply to joints of one or more virtualobjects. In at least one embodiment, joints of a correspondingreal-world object are modelled, such as joints of a human subject'sankle or knee. In at least one embodiment, a force such as torque isapplied to such a model, and a physics-based determination is performedto resolve character movement. In at least one embodiment, said neuralnetwork is trained based on various aspects of motion demonstrated in atraining dataset.

In at least one embodiment, a data-driven technique provides scalabilityto a wide variety of motions by learning directly from demonstrations ofmovement. In at least one embodiment, a reward signal for a compatiblelearning technique uses reward signals based on distance or similaritybetween generated and target motion.

In at least one embodiment, a policy network, maps a current state of acharacter to torques applied to various joints, and is then optimized tominimize this distance. Policies trained with imitation learning maysucceed in driving a virtual character to naturally follow a referencetarget motions in a physically plausible way. In at least oneembodiment, to increase a range of supported motions and allow forbetter user interaction, a physics-based universal neural controller isimplemented and allows for a wide range of real-time interactiveapplications.

In at least one embodiment, said system 100 comprises a low-level motionexecutor 104 to generate a physics-based control signal which drives acharacter to follow a target reference motion, and a high-level motionscheduler 102 to convert various high-level input, such as keyboard orjoystick commands, into a target reference motion. In at least oneembodiment, to achieve a powerful and robust motion executor system 100is taught using techniques which allow motion executor 104 to be trainedusing large-scale motion datasets with diverse motion styles, usingreinforcement learning. In at least one embodiment, a constrainedmulti-objective reward optimization is used. In at least one embodiment,a motion balancer is used. In at least one embodiment, a policy variancecontroller is used.

In at least one embodiment, once low-level motion executor 104 istrained, system 100 can utilize different motion schedulers forreal-time interactive applications. For example, in at least oneembodiment, system 100 can be used to perform keyboard o joystick-drivencontrol. In at least one embodiment, system 100 facilitates compositionof user-specified motion sequences. In at least one embodiment, system100 supports virtual teleportation of a person captured on video to avirtual environment in which said person is represented by aphysics-based virtual avatar.

In at least one embodiment, system 100 can be used to imitate motionswhich are unseen during training. In at least one embodiment, system 100is taught natural transition skills between motions automatically, orwithout need of specific training samples, related to transition, in itstraining dataset.

In at least one embodiment, system 100 produces robust control even whena source motion is of poor quality. For example, in at least oneembodiment, system 100 demonstrates zero-shot robustness to environmentobstacles that are not seen during training, such as projectiles orother characters. In at least one embodiment, system 100 is capable ofadapting to characters with widely varying weight or othercharacteristics. In at least one embodiment, system 100 is capable ofadapting to slower or faster motion than those motions seen duringtraining.

In at least one embodiment, system 100 is used in interactiveapplications, such as videogames. In at least one embodiment,generalization and robustness allow for multiple modes of interactivecharacter control ranging from keyboard commands, noisy pose trackingfrom video capture, and user-specified sequences of locomotion oracrobatic motions. In at least one embodiment, these applications may beused without having to retrain or fine-tune separate models for eachapplication.

In at least one embodiment, low-level motion executor assumes input in aform of target character states. These states come, for example, frommotion capture data, or are produced by a high level motion scheduler. Alow-level controller is implemented as a policy neural network that aimsto output a physics-based control signal driving a character to besttrack target states.

In at least one embodiment, character state is denoted as χ. In at leastone embodiment, character state is described using a root positionp^(r)∈

³, a root rotation quaternion q^(r)∈

⁴, a joint position p^(j)∈

^(3J), and a joint rotation quaternion q^(j)∈

^(4J), where J is a number of joints. In at least one embodiment, jointposition q^(j) can be inferred from p^(r), p^(j), q^(r). In at least oneembodiment, first order information from four states is considered,comprising a root translation velocity {dot over (p)}^(r), a rootangular velocity {dot over (q)}^(r), a joint translation velocity {dotover (p)}^(j), and a joint angular velocity {dot over (q)}^(j). In atleast one embodiment, state X can be stated as:

χ=[p ^(r) ,q ^(r) ,p ^(j) ,q ^(j) ,{dot over (p)} ^(r) ,{dot over (q)}^(r) ,{dot over (p)} ^(j) ,{dot over (q)} ^(j)]  (1)

In at least one embodiment, time steps in a physics engine are denotedas t, and character state at time step t is denoted as {tilde over(χ)}_(t). In at least one embodiment, target states input to low-levelexecutor 104, are denoted as [χ_(t+1), . . . , χ_(t+τ)], where i is alength of a target frames. In at least one embodiment, target states 120are generated from training datasets, or from a high-level motionscheduler 102 that takes a control signal c_(t).

In at least one embodiment, an observation function encodes informationabout both, a current state {circumflex over (X)}_(t) as well as targetfuture states [χ_(t+1), χ_(t+τ)]. In at least one embodiment, anagent-centric state encoding operator T_(p) _(r) _(,q) _(r) is used,which transforms the quaternion, translation and a correspondingvelocity with respect to a root p^(r), q^(r). This agent-centric localstate observation function o(χ) can be written as:

o(χ)=[p ^(r)(z),T _(p) _(r) _(,q) _(r) (q ^(r) ,p ^(j) ,q ^(j) ,{dotover (p)} ^(r) ,{dot over (q)} ^(r) ,{dot over (p)} ^(j) ,{dot over (q)}^(j))]  (2)

In at least one embodiment, by processing a character's actual state inan agent-centric way, generalization of an observation function isincreased. In at least one embodiment, a second part of an observationfunction is a relative information function y_({tilde over (x)})(χ) thatextracts relative root information between future target states andcurrent actual state, such as:

y _({tilde over (x)})(χ)=[T _({tilde over (p)}) _(r)_(,{tilde over (q)}) _(r) (p ^(r) ,q ^(r))].  (3)

In at least one embodiment, by combining both local state informationo(χ) and relative information between states, an observation vectors_(t) takes the following form:

s _(t)=[o({tilde over (χ)}),o(χ_(t+1)), . . . o(χ_(t+τ)),y_({tilde over (χ)})(χ_(t+1)), . . . y _({tilde over (χ)})(χ_(t+τ))]  (4)

In at least one embodiment, low-level executor 104 comprises acontroller based on torque or other force value. In at least oneembodiment, a force-based approach is used instead of techniques such asproportional-derivative (“PD”) controllers, to provide advantages suchas reducing or preventing overfitting and avoiding policies based onunanticipated features.

In at least one embodiment, a torque-based controller is denoted asπ(α_(t)|s_(t)), where α_(t) is a concatenation of torques applied toeach joint. In at least one embodiment, a fully-connected neuralnetwork, such as a Multilayer Perceptron (“MLP”) is used, where networkweights may be denoted as θ_(π). In at least one embodiment, saidcontroller uses a neural network with three hidden layers of 1024 units.

In at least one embodiment, constrained multi-objective rewardoptimization is used. In at least one embodiment, a reward is defined asa sum of several terms that measure difference of a target state andactual state on different statistics, i.e.,

r(s _(t))=r _(t)(χ,χ)=w _(p) _(r) r _(p) _(r) +w _(q) _(r) r _(q) _(r)+w _(p) _(j) r _(p) _(j) +w _(q) _(j) r _(q) _(j) +w _({dot over (q)})_(j) r _({dot over (q)}) _(j)   (5)

where, in at least one embodiment, weight coefficients (w_(p) _(r) ,w_(p) _(r) , w_(p) _(j) , w_(q) _(j) , w_({dot over (q)}) _(j) ) arerespectively (0.2, 0.2, 0.1, 0.4, 0.1). In at least one embodiment, asame reward function r_(q) _(j) is used for joint quaternion deviation,r_({dot over (q)}) _(j) for joint angular velocity deviation, and rootposition deviation r_(p) _(r) (centor-of-mass). In at least oneembodiment, instead of penalizing only mismatches of positions forend-effectors such as hands and feet, all joints are penalized, asaccurate representations of many motions require attention to all jointsrather than hands and feet only. In at least one embodiment, rootrotation is separately penalized, similar to penalization of jointrotations, as r_(q) _(r) =exp(−2∥{tilde over (q)}^(r)−q^(r)∥²).

In at least one embodiment, directly optimizing a sum of rewards isproblematic, due do being essentially a multi-objective reward function,and mathematically, each separate reward term is competing againstothers in training. In at least one embodiment, this competing effect isnot apparent when training on very few motions, but can occur when saidrewards are dominated by certain reward terms. In at least oneembodiment, these issues are addressed by a constrained optimizationobjective:

$\begin{matrix}{{{\begin{matrix}\max \\\theta_{\pi}\end{matrix}{J\left( \theta_{\pi} \right)}} = {{\mathbb{E}}_{s_{t} \sim {\rho_{\theta_{\pi}}{(s)}}}\left( {r\left( s_{t} \right)} \right)}},{{s.t.\mspace{14mu}{r_{i}\left( s_{t} \right)}} > \alpha_{i}},{\forall{r_{i} \in \left\lbrack {r_{p^{r}},r_{q^{r}},r_{p^{j}},r_{q^{j}},r_{{\overset{.}{q}}^{J}}} \right\rbrack}}} & (6)\end{matrix}$

where α_(i) is a tolerance coefficient to prevent a reward term fromdominating other reward terms.

In at least one embodiment, it is difficult or impossible to directlyoptimize this equation using existing reinforcement learning algorithms.In at least one embodiment, a soft version of constraintr_(i)(s_(t))>α_(i) is maintained by enforcing early terminationseparately for each term. In at least one embodiment, an episode isterminated if any reward term drops below a tolerance threshold. In atleast one embodiment, α_(i)=0.1 ∀i is determined empirically to workwell.

In at least one embodiment, proximal policy optimization (“PPO”) is usedto optimize said controller of motion executor 104. In at least oneembodiment, PPO or policy gradient (“PG”) methods are used. In at leastone embodiment, a PPO surrogate objective is optimized, where saidobjective is:

$\begin{matrix}{\begin{matrix}\max \\\theta_{\pi}\end{matrix}{{\mathbb{E}}\left\lbrack {{\frac{\pi\left( {a_{t}❘s_{t}} \right)}{\pi_{old}\left( {a_{t}❘s_{t}} \right)}A_{t}} - {\beta \cdot {{KL}\left\lbrack {{\pi\left( {\cdot {❘s_{t}}} \right)}{}{\pi_{old}\left( {\cdot {❘s_{t}}} \right)}} \right\rbrack}}} \right\rbrack}} & (7)\end{matrix}$

where A_(t) is an estimated advantage function, π_(old) representspolicy weights which are fixed during update, and β is a weight for aKullback Leibler divergence penalty that discourages over-confidentupdates. In at least one embodiment, an iterative update said equationis sample-based, consistent with how motion is sampled as described inrelation to various embodiments disclosed herein. In at least oneembodiment, during training, 4096 workers are simultaneously used togenerate training samples. In at least one embodiment, a number ofsamples per iteration per worker is 64.

In at least one embodiment, available training motion datasets containssamples that are imbalanced with respect to motion type, such thatcertain types of motion tend to predominate. In at least one embodiment,random sampling on such datasets, during training, can lead to a policythat is dominated by one specific skill, but it may still beadvantageous to utilize such datasets, since they may be readilyavailable. In at least one embodiment, an additional challenge ispresented by class labels for motions, which may include a mixture ofrough and fine-grained labels, posing additional challenges inmaintaining an effective balance of training samples.

In at least one embodiment, a motion balancer is used. In at least oneembodiment, said motion balancer builds a hierarchical tree structurefor class labels. In at least one embodiment, for every motion, startingfrom class root node, said motion balancer labels high-level, or moregeneral, classes, such as walking, and then move downwards in a treestructure to low-level, or more specialized, classes such as forwardwalking or backward walking. In at least one embodiment, hierarchy depthis not limited, such that for complicated motions more fine-grainedclass labels can be generated. For example, in at least one embodiment,samples of a specialized “zombie” walking style could be labeled asroot-walking-forward-zombie or root-walking-backward-zombie.

In at least one embodiment, during training, motion is sampled by goingdown a hierarchical tree and uniformly sampling from all sub-node (childnode) classes of a current node. In at least one embodiment, each nodeis denoted as v and its sub-nodes or child-nodes are denoted as C(v). Asampling process can be described as

$\begin{matrix}{{{P\left( {v_{i}❘v} \right)} = \frac{1}{{C(v)}}},{\forall{v_{i} \in {C(v)}}}} & (8)\end{matrix}$

In at least one embodiment, sampling probability for each motion can becalculated offline once for an entire dataset.

In at least one embodiment, a reference state initialization (“RSP”) canbe performed to sample a state of a particular frame as an initialstate. In at least one embodiment, initialization is instead performedusing a reactive state initialization scheme (“RSIS”) in which an agentis initialized with a state of a frame k time-steps away from an actualtarget frame it is supposed to track. In at least one embodiment, RSIScomprises significant amounts of noise added to velocity and translationof an initialized state. In at least one embodiment, using RSIS causesan agent to learn how to self-adjust and catch up with a target state.In at least one embodiment, this recovery skill can be learntautomatically without needing to train a separate recovery network, orneeding to add recovering motions to a training dataset. In at least oneembodiment, RSIS can be used with a motion stitching scheduler so thatan agent is capable of generating natural transitions between stitchedmotions that may have large discontinuities. In at least one embodiment,RSIS improves robustness with respect to recovering from perturbationsin an environment in which motion is conducted.

In at least one embodiment, additional steps are taken in training toavoid bad local minima. In at least one embodiment, variance of astochastic policy π(α_(t)|s_(t)) is considered. In at least oneembodiment, regarding PPO, a trainable vector {tilde over (σ)}∈

^(α) ^(t) ^(|) is used to represent a diagonal Gaussian policy standarddeviation. In at least one embodiment, for single-motion or few-motiontraining, {tilde over (σ)} can be automatically learnt by optimizing aPPO surrogate objective, such as by equation 7 provided above, but witha large-scale dataset, variance may be more fragile during training. Inat least one embodiment, an initial value is set using an exponentialannealing on policy variance. In at least one embodiment, differentjoints of a character require variance of different scales. For example,in at least one embodiment, control variance of a character's toes issmaller than variance of said character's legs. In at least oneembodiment, to preserve learnt differences between joints, an adaptivevariance update scheme is used, as follows:

$\begin{matrix}{\left. {\overset{\sim}{\sigma}}^{\prime}\leftarrow{\overset{\sim}{\sigma} - {\alpha_{lr}{\nabla_{\overset{\sim}{\sigma}}L_{PPO}}}} \right.,\left. {\overset{\sim}{\sigma}}^{\prime}\leftarrow\left\{ \begin{matrix}{{\mathcal{Z}\left( {\overset{\sim}{\sigma}}^{\prime} \right)},} & {l < \mathcal{L}} \\{\overset{\sim}{\sigma}}^{\prime} & {Else}\end{matrix} \right. \right.} & (9)\end{matrix}$

where L_(PPO) is a loss defined in equation 7, α_(ir) is a learningrate, and 1 is a current PPO training iteration. In at least oneembodiment, a control iteration range is defined from 0 to L, duringwhich a target average of log({tilde over (σ)}) is linearly annealedfrom hyper-parameters logstd₀ and logstd_(F). In at least oneembodiment,

is an operation to linearly increase or decrease a log of each componentof d by a same amount, so that average value matches a linear annealedtarget value. In at least one embodiment, this preserves learnt variancestructure.

In at least one embodiment, a high-level motion scheduler 102 outputstarget reference states from interactive control signal or from a motiondataset, for use in conjunction with low-level motion executor 104. Inat least one embodiment, motion schedulers 102 may include one or morespecialized scheduler components 108-114 to effectuate different controlschemes, such as keyboard input, joystick input, replication of anobserved subject's motion, and so forth. Note, however, that althoughFIG. 1 depicts various schedulers 108-114 as components of a high-levelmotion scheduler 102, in at least one embodiment, said schedulers108-114 can each operate independently. In at least one embodiment,accordingly, one of schedulers 108-114 can replace high-level motionscheduler 102.

In at least one embodiment, a high-level motion scheduler 102 is denotedas ϕ, and outputs states of τ future frames as:

[χ_(t+1), . . . ,χ_(t+τ)]=ϕ_(θ)({c _(i)}_(i=t−τ) _(c′) ^(t){{tilde over(χ)}}_(i=t−τ) _(x′) ^(t) t))  (10)

where τ_(c) and τ_(x) represent history length of control signals andcharacter states, respectively; and θ represents parameters orconfigurations of scheduler 102. In at least one embodiment, planninglength τ is carefully chosen so that it is not too long, since this canmake executor 104 hard to train, and is more prone to overfitting.Moreover, in at least one embodiment, for real-time applications such asanimation from video, it is not possible or practical to generate framesfor an unforeseen future. In at least one embodiment, a relatively shortoutput length τ is therefore chosen, e.g. such as a value of 1 or 2.

In at least one embodiment, by unifying input observation to low-levelmotion executor 104, a universal and transferable framework fordifferent sources of control inputs is established. In at least oneembodiment, a low-level executor 104 trained with a large-scale motiondataset can be used directly with any of various types of scheduler 102for specific applications without need of retraining.

In at least one embodiment, a motion training scheduler 108 is used toleverage a motion dataset to train low-level executor 104. In at leastone embodiment, during training, random samples of a motion m and samplea frame ID j are obtained, and this frame's state is set as an initialstate for an agent {tilde over (χ)}=m(j). For time step i, said trainingscheduler outputs state from motion m as:

ϕ_(MocapData)(t)=[m(t+j+1),m(t+j+2), . . . ,m(t+j+τ)]  (11)

In at least one embodiment, said motion training scheduler 108terminates and reschedules a new motion when a present motion hasreached its end, or when target and actual states have deviatedsignificant.

In at least one embodiment, a motion capture (“MoCap”) dataset isobtained and used to generate training and testing datasets. In at leastone embodiment, smaller datasets are created by grouping via style andtasks. For example, in at least one embodiment, a dataset of “chore”motions might include those such as sweeping the floor, cleaning dishes,and so forth, an “animal” dataset might contain motions where humans tryto imitate animals such as cats and dogs, and a “miscellaneous” datasetmight contain all remaining motions after filtering out infeasiblemotions or motions that are highly dependent on external objects such asstairs.

In at least one embodiment, a dataset is split into a training set thathas 80% of frames and a test set that has 20%. In at least oneembodiment, available datasets have unbalanced examples of motion. Forexample, in a given readily available dataset, it might be that 35.4% ofexamples are walking motions, and 25.5% of all motion examples arewalking-forward motions. Similarly, in at least one embodiment, adataset may have a large number of movement classes that have very fewexamples represented.

In at least one embodiment, classes with fewer numbers of examples areallocated first, so that they are allocated equally in testing andtraining sets. In at least one embodiment, if there is a class with onlyone motion, it is placed in a test set. In at least one embodiment,large classes such as walking-forward are allocated to fill remainingtraining and testing sets. In at least one embodiment, while a resultingtraining dataset may be unbalanced across classes, embodiments of amotion balancer as described herein helps to train motion executor 104effectively.

In at least one embodiment, a video stream scheduler 114 is used as aninteractive control input. In at least one embodiment, motion of a humansubject is captured by a camera and recreated via an avatar in a virtualenvironment. In at least one embodiment, a real-time pose estimator isused to estimate a 3D pose of a subject from video. In at least oneembodiment, a pose estimator is parameterized by a convolutional neuralnetwork with weights θ_(CNN), and represent a pose estimator as

_(θ) _(CNN) . In at least one embodiment, a video frame at time step t+1is denoted as I_(t+1). In at least one embodiment, said estimatorgenerates a prediction as follows:

_(t+1)=[p _(t+1) ^(r) ,q _(t+1) ^(r) ,p _(t+1) ^(j) ,q _(t+1) ^(j)]=

_(θ) _(CNN) (I _(t+1))  (12)

In at least one embodiment, an animation engine is connected to apose-estimator, sending

_(t+1) in a real-time fashion. In at least one embodiment, bymaintaining a pose buffer of length τ_(p) first order information suchas linear and angular velocities are then interpolated from previousposes, for example as [{tilde over (p)}_(t+1) ^(r), {tilde over ( )}q_(t+1) ^(r), {tilde over (p)}_(t+1) ^(j), {tilde over (q)}_(t+1)^(j)]=Interp({

_(i=t+1−τ) _(p) ^(t+1)}).

In at least one embodiment, a video stream controller 114 may be writtenas:

χ_(t+1)=[(ϕ_(θ) _(CNN) (I _(t+1)),Interp({

_(i=t−τ) _(i) ^(t)})]  (13)

In at least one embodiment, accuracy of pose estimation is imperfect,and may contain substantial amounts of noise. In at least oneembodiment, low-level motion executor 104 can handle very noisyestimated poses with reasonable accuracy.

In at least one embodiment, a command stream scheduler 112 is trained todrive low-level motion executor 104 based on user input, such askeyboard or joystick commands. In at least one embodiment, instead oftraining a hierarchical interactive scheduler from scratch, aphase-functioned neural network (“PFNN”) is used to process commands andgenerate future states. In at least one embodiment, said PFNN cancontrol motion direction of an agent and choose motion style fromwalking, jogging, crouching, and so forth. In at least one embodiment,target state generation of a PFNN is written as:

χ_(t+1)=ϕ_(θ) _(PFNN) (χ_(t) ,{c _(i)}_(t=t−τ) _(c) ^(t))  (14)

In at least one embodiment, a PFNN is an auto-regressive method where apreviously generated state χ_(t) is also an input for generation ofχ_(t+1). In at least one embodiment, experiments show that feedingactual state {tilde over (χ)}_(t) back into PFNN is not required, andinstead low-level executor 104 can automatically correct accumulatingmistakes in said PFNN. In at least one embodiment, other keyframe-basedanimation systems are used.

In at least one embodiment, users can also interactively specify motionfor a character using a motion stitching scheduler 110, where motionstitching refers to directly stitching new motions consecutively notcaring about proper transitions. In at least one embodiment, a stitchedtarget motion buffer

is maintained, and before a current buffer finishes and no states areleft in it, another motion m with |m| frames is interactively added tosaid buffer:

·push({m(k)}), where k=0, . . . |m|−1  (15)

In at least one embodiment, a spherical linear interpolation is used toadd several transition target frames. In at least one embodiment, atevery time-step, motion stitching scheduler 110 generates a subsequenttarget state by popping a state like a FIFO buffer:

χ_(t+1)=ϕ_(B)=

·pop( )  (16)

In at least one embodiment, a motion stitching scheduler 110 can beregarded as a simple version of a motion graph, where motion is animatedone-by-one. However, in at least one embodiment, motion stitchingscheduler 110 can animate a wide variety of highly difficult acrobaticmotions on-the-fly, some of which are unseen in training. In at leastone embodiment, this enables a character to be animated withautomatically smooth transitions between motions even though notransition skills were included in a training set.

In at least one embodiment, a character model 106 incorporates physicsto model movements of a character. In at least one embodiment, charactermodel 106 is used with a physics engine, such as a GPU-acceleratedphysics engine, as a core backend for physics simulation. In at leastone embodiment, a CUDA-based Newton Preconditioned Conjugate ResidualMethod (PCR) solver for rigid-bodies is provided by a physics engine. Inat least one embodiment, gravity is set to 9.8 m/s² downwards and avalue of 1.0 is used for coefficients of static and dynamic friction.

In at least one embodiment, character model 106 is designed as ahumanoid model with a basic topology of a rigid-body representationmodeled after a human body. In at least one embodiment, character model106 includes 20 rigid-bodies and 35 degrees-of-freedom, where eachdegree-of-freedom is assigned an effort factor within a range of 50 to600, to simulate difference in strength of joints in the human body. Inat least one embodiment, this effort factor is taken into considerationwhen torque control is applied. In at least one embodiment, height andmass of character model 106 resembles a realistic proportion of a humanbody, at 1.8 m and 70 kg respectively. In at least one embodiment, massof each rigid-body in character model 106 is proportionally distributedbased on a rough estimate of the human body mass distribution.

In at least one embodiment, an agent can resist perturbation fromprojectiles, or retarget models with different weight distributions thanwere originally trained on. In at least one embodiment, embodimentsdescribed herein may achieve zero-shot robustness, where an agent neversees a perturbation or retargeting information during training, and isasked to perform tasks under perturbations or using different humanoidmodels with varying masses.

In at least one embodiment, an embodiment of system 100 as disclosedherein may have an ability to combat unseen perturbations andretargeting problems. In at least one embodiment, zero-shot robustnessis achieved for zero-shot perturbation robustness, zero shot speedrobustness, and zero-shot model retargeting.

In at least one embodiment, zero-shot perturbation robustness relates toa case where agents are trained without projectiles or other obstaclesor impediments being present during training. In at least oneembodiment, during testing, an agent is required to perform tasks undersuch projectiles or other obstacles.

In at least one embodiment, zero-shot speed robustness relates to a casewhere an agent is trained with motions at an original speed, but duringtesting, said agent is asked to reproduce motions at different speeds.

In at least one embodiment, zero-shot model retargeting robustnessinvolves an agent being trained on one or more models during training,but during testing performing tasks using models not previously trainedon. For example, in at least one embodiment, models that are 25% heavierand 25% lighter are used during testing.

In at least one embodiment, a robotic device is trained to perform oneor more movements based, at least partially, on an environment simulatedusing system 100. In at least one embodiment, a simulated environmentcomprises a simulated environment, simulated sensors, and a collectionof assets. In at least one embodiment, these assets include, but are notlimited to, assets pertaining to characters, terrain, obstacles, and soforth. In at least one embodiment, system 100, or other embodimentsdescribed herein, are used to generate signals to control movements of avirtual character and generating video data depicting said movements. Inat least one embodiment, a robotic device is trained to perform movementbased on this video data.

In at least one embodiment, system 100 is used in an interactivesimulation, such as an interactive game, simulated factory, simulateddriving environment, and so forth. In at least one embodiment, videodata depicting said simulation(s) is used to train one or more otherneural networks to perform additional tasks. In at least one embodiment,these tasks include

FIG. 2 illustrates an example of motion balancing for training a systemfor animating a virtual object, according to at least one embodiment. Inat least one embodiment, an example 200 of motion balancing comprises amotion balancer 204 to input a training dataset 202 and output ahierarchical training dataset 206.

In at least one embodiment, a virtual object corresponds to a character,such as a virtual person or animal. In at least one embodiment, avirtual object corresponds to a mechanism, such as a robotic arm orother robotic device, which is simulated within a virtual environment.In at least one embodiment, a model of such devices simulates physicalcharacteristics of a corresponding physical robotic arm or other roboticdevice.

In at least one embodiment, training dataset 202 comprises a pluralityof examples of motion. In at least one embodiment, training dataset 202contains video data or motion capture data pertaining to human subjectsengaged in various types of motions. Examples of such motions includingwalking, running, jumping, and so forth. In at least one embodiment,training dataset 202 is over-weighted regarding particular types ofmotion, such as walking or running, and similarly lacks sufficientexamples of particular types of such motions, such as walking fast, andlacks sufficient examples of other motion types, such as jumping.

In at least one embodiment, motion balancer 204 builds a hierarchicaltree structure for samples or class labels. In at least one embodiment,for every example in training dataset 202, motion balancer 204 startsfrom a root node and puts high-level, or more general, classes, such asgeneric examples of walking, in a first level 210 of said hierarchy 206,and then move downwards in a hierarchical tree structure to morespecialized classes such as forward walking or backward walking, whichare placed in a second level 212. Further levels of hierarchy 206 can beused for even more specialized examples of motion, such as walking in aparticular or unique style, which are placed in a third level 214.

In at least one embodiment, during training, motion is sampled by goingdown hierarchical training dataset 206 and uniformly sampling from eachlevel of hierarchical training dataset 206. Using this approach helps inteaching fundamental aspects of motion physics, while avoidingover-specialization on particular types of motion.

FIG. 3 illustrates an example of a video stream scheduler, according toat least one embodiment. In at least one embodiment, a video streamscheduler 300 comprises software or circuitry, individually or incombination, to receive and store a video stream 302 for subsequentanalysis. In at least one embodiment, a video stream scheduler 300further comprises a neural pose estimator 304 capable of pose estimationat speeds approximating real-time.

In at least one embodiment, video stream scheduler 300 functions as aninteractive control input. For example, in at least one embodiment,video stream 302 comprises video data of a human subject, whose motionsare to be analyzed and reproduced using a system, such as system 100depicted in FIG. 1, to animate a virtual avatar.

In at least one embodiment, neural pose estimator 304 is a convolutionalneural network. In at least one embodiment, neural pose estimator 304estimates a pose of a subject in a frame of video stream 302. In atleast one embodiment, an estimated pose is then used as a target stateof a corresponding virtual avatar. In at least one embodiment, a targetstate is derived by predicting a future state based on an estimatedpose. For example, in at least one embodiment, first-order informationsuch as linear and angular velocities may permit interpolation orprediction of an observed subject's state in the near future, and thisinterpolated or predicted state can be used as a target state.

In at least one embodiment, target states are output as a target statestream 306. In at least one embodiment, target state stream 306comprises a plurality of time-ordered target states that may be trackedby a connected motion executor, as depicted in FIG. 1.

FIG. 4 illustrates an example of a command stream scheduler 400,according to at least one embodiment. In at least one embodiment, acommand stream scheduler 400 comprises software or circuitry,individually or in combination, to receive and store a command stream402 for subsequent analysis. In at least one embodiment, command stream402 comprises input from one or more of a keyboard, joystick, trackball,or other mechanism capable of generating commands. In at least oneembodiment, examples of such commands include directional commands suchas “forwards” or “backwards,” speed-modifying commands such as “increasespeed” or “decrease speed,” and positional commands such as “crouch” or“stand.” It will be appreciated that these examples are intended to beillustrative rather than limiting, and that as such, a disclosedexamples should not be construed in a manner which would limit the scopeof embodiments to only those that include those examples provided.

In at least one embodiment, a command stream scheduler 400 is trained todrive a low-level motion executor, such as is depicted in FIG. 1, basedon commands from command stream 402. In at least one embodiment,command-driven planner 404 comprises a phase-functioned neural networkto process commands and generate future states. In at least oneembodiment, this PFNN can control motion direction of an agent andchoose a motion style such as walking, jogging, or crouching. In atleast one embodiment, this PFNN is auto-regressive such that apreviously generated state is also an input for a subsequent generatedstate. Output from command driven planner 404 is used to provide statesthat comprise target state stream 406. In at least one embodiment,states from target state stream 406 cause a system, such as a system 100depicted in FIG. 1, to animate a virtual object.

FIG. 5 illustrates an example of a motion stitching scheduler, accordingto at least one embodiment. In at least one embodiment, a motionstitching scheduler 500 comprises software or circuitry, individually orin combination, to receive and store a motion stream 502. In at leastone embodiment, motion stream 502 comprises a series of motions acharacter is to perform. For example, in at least one embodiment, userscan interactively specify motions for a character that are to bestitched together. In at least one embodiment, motion stitching refersto directly combining new motions in consecutive sequence, withoutparticular concern, at least at this stage, for proper transitionsbetween motions. In at least one embodiment, a stitched target motionbuffer stream 504 is maintained, comprising a sequence of target statesto be implemented by a motion executor, such as is depicted in FIG. 1.In at least one embodiment, before contents of this buffer 504 areemptied, additional frames representing an additional motion is added tobuffer 504.

In at least one embodiment, a spherical linear interpolation is used toadd one or more transition target frames to buffer 504, in order toimprove transitions between motions. In at least one embodiment, motionstitching scheduler 500 can output a target state stream 506 that, whenprocessed by a low-level motion executor such as is depicted in FIG. 1,can animate a variety of acrobatic motions, even if some are unseen intraining. In at least one embodiment, this enables a character to beanimated with automatically smooth transitions between motions eventhough no transition examples were included in training.

FIG. 6 illustrates an example of a reactive state initialization scheme,according to at least one embodiment.

Although example process 600 is depicted as a sequence of operations, itwill be appreciated that, in embodiments, depicted operations may bealtered in various ways, and that some operations may be omitted,reordered, or performed in parallel with other operations, except wherean order is explicitly stated or logically implied, such as when inputfrom one operation depends upon output of another operation.

Operations depicted by FIG. 6 may be performed by a system, such as asystem 100 depicted in FIG. 1, comprising at least one processor and amemory with stored instructions that, in response to being executed byat least one processor, cause a system to perform depicted operations.In at least one embodiment, depicted operations are performed by acombination of hardware and software, where said hardware includes oneor more APUs, CPUs, GPUs, PPUs, GPGPUs, parallel processors, processingclusters, graphics processors, multiprocessors, and so forth as depictedby various figures herein. In at least one embodiment, said softwarecomprises libraries such as any of CUDA, OpenGL, OpenLC, ROCm, and mayalso include operating system software.

At 602, said system identifies a target frame. In at least oneembodiment, a target frame refers to a frame that is representative of astate that an agent is intended to track during training. In at leastone embodiment, an agent refers to software and/or circuitry thatcoordinates animation of a virtual object using a system such as isdepicted in FIG. 1.

At 604, said system identifies a frame that is k steps away from saidtarget frame. In at least one embodiment, k is selected based on astochastic process so that a frame used to initialize an agent is somenumber of time steps in front of or behind an intended target state.

At 606, said system initializes an agent based on a state associatedwith said frame, k steps away from said target frame. In at least oneembodiment, initialization of said agent refers to a starting state thatmotion will commence from. For example, in at least one embodiment, astarting state of a walking motion is such that both legs areperpendicular to ground. In at least one embodiment, this might be usedas a target state. However, in at least one embodiment, aninitialization state is instead k steps away, which might be reflectedin one leg being angled forwards or backwards, a knee being bent, orsome other deviation from standing up straight. It will be appreciatedthat this example is intended to be illustrative rather than limiting,and that as such, should not be construed in a manner which would limitpotential embodiments to only those that conform to this example.

At 608, said system trains its motion executor to recover fromdifferences between said target frame and a starting frame, i.e., saidframe that is k steps away. In at least one embodiment, said system isnot trained specifically to recover, but rather is trained to includecompensating force or movement when learning based on a variety ofmotion types.

FIG. 7 illustrates an example of policy variant control, according to atleast one embodiment.

Although example process 700 is depicted as a sequence of operations, itwill be appreciated that, in embodiments, depicted operations may bealtered in various ways, and that some operations may be omitted,reordered, or performed in parallel with other operations, except wherean order is explicitly stated or logically implied, such as when inputfrom one operation depends upon output of another operation.

Operations depicted by FIG. 7 may be performed by a system, such assystem 100 depicted in FIG. 1, comprising at least one processor and amemory with stored instructions that, in response to being executed byat least one processor, cause a system to perform depicted operations.In at least one embodiment, depicted operations are performed by acombination of hardware and software, where said hardware includes oneor more APUs, CPUs, GPUs, PPUs, GPGPUs, parallel processors, processingclusters, graphics processors, multiprocessors, and so forth as depictedby various figures herein. In at least one embodiment, said softwarecomprises libraries such as any of CUDA, OpenGL, OpenLC, ROCm, and mayalso include operating system software.

At 702, said system initializes permissible variance by joint. In atleast one embodiment, each joint of a character model, or other objectmodel, may have variance that reflects different physicalcharacteristics of its represented subject. For example, in at least oneembodiment, a control variance of a subject's toes may be considerablysmaller than that of a subject's knee joints.

At 704, said system schedules variance decay. In at least oneembodiment, variance amounts decline over time during training, so thatlarger variances are encountered initially and then, over time, decline.In at least one embodiment, said variance day is in accordance withexponential annealing, although it will be appreciated that a variety ofother techniques may be employed. In at least one embodiment, anadaptive variance update scheme is deployed, as described above.

At 706, said system trains in accordance with a scheduled variance. Inat least one embodiment, this is done according to a process asdescribed above in relation to a motion dataset training scheduler.

FIG. 8 illustrates an example of training a system to animate a virtualobject, according to at least one embodiment. In at least oneembodiment, a process 800 as depicted in FIG. 8 trains a neural networkaccording to various embodiments described herein, including embodimentsdescribed in relation to FIG. 1.

Although example process 800 is depicted as a sequence of operations, itwill be appreciated that, in embodiments, depicted operations may bealtered in various ways, and that some operations may be omitted,reordered, or performed in parallel with other operations, except wherean order is explicitly stated or logically implied, such as when inputfrom one operation depends upon output of another operation.

Operations depicted by FIG. 8 may be performed by a system, such as asystem 100 depicted in FIG. 1, comprising at least one processor and amemory with stored instructions that, in response to being executed byat least one processor, cause a system to perform depicted operations.In at least one embodiment, said operations are performed by acombination of hardware and software, where said hardware includes oneor more APUs, CPUs, GPUs, PPUs, GPGPUs, parallel processors, processingclusters, graphics processors, multiprocessors, and so forth as depictedby various figures herein. In at least one embodiment, said softwarecomprises libraries such as any of CUDA, OpenGL, OpenLC, ROCm, and mayalso include operating system software.

In at least one embodiment, said system comprises one or moreprocessors. In at least one embodiment, at least one of said one or moreprocessors comprises circuits to cause one or more neural networks to betrained to identify one or more forces to be applied to one or moreobjects based, at least in part, on training data corresponding to twoor more aspects of motion of said one or more objects. In at least oneembodiment, said aspects of motion are movements, such as walking,running, jumping, and so forth, depicted by examples provided intraining data. In at least one embodiment, this training data comprisesvideo data.

In at least one embodiment, said one or more objects is a model of afigure or character. In at least one embodiment, said one or more objectis a model of a humanoid, animal, or robotic figure or character. In atleast one embodiment, said one or more objects comprise virtual jointsto represents points at which flexion or extension can occur. In atleast one embodiment, said one or more forces are applied to said one ormore joints. In at least one embodiment, application of said forces issimulated, so that a subsequent state of said one or more objects can bedetermined based on moving objects in accordance with an applied amountof force. A stream of such states can then be used to generate animatedgraphics comprising said objects.

In at least one embodiment, said one or more neural networks comprise amotion executor to be trained to generate one or more amounts of forceto apply to one or more joints of one or more objects, based at least inpart on a target state of one or more objects supplied as input to amotion executor.

At 802, said system hierarchically organizes training data. In at leastone embodiment, examples of aspects of motion in training data isorganized hierarchically, according to specialization of aspects ofmotion. Examples of such hierarchical organization are provided herein,for example in relation to FIG. 2.

At 804, said system determines control variance decay. In at least oneembodiment, variance of joints associated with one or more objectsdecays during training in accordance with a scheduled decay of variance.In at least one embodiment, said control variance decays according toone or more techniques described herein. In at least one embodiment,joints associated with one or more objects each have specializedvariance according to physical properties of corresponding real-worldjoints. For example, in at least one embodiment, an object representinga humanoid figure may have differentiated control variance for ankle andknee joints, to reflect correspondingly different ranges of motion.

At 806, said system selects an example of motion from a level of ahierarchy. In at least one embodiment, one or more neural networks aretrained by randomly selecting aspects of motion from a first level ofthe hierarchy, followed by randomly selecting aspects of motion from asecond level of the hierarchy below said first level. In at least oneembodiment, some number N₁ of samples are selected from a top level of ahierarchy, followed by some number N₂ of samples selected from a secondlevel below said top level, and so forth.

At 808, said system uses a reactive state initialization scheme to setup a training episode. In at least one embodiment, a training episode isinitialized to a state based on a frame of motion that is displaced byone or more frames from a starting frame of video data comprising anexample of an aspect of motion.

At 810 said system may determine to terminate a training episode whenany individual reward term falls below a threshold level. In at leastone embodiment, this is done according to one or more techniques forterminating a training episode described herein, for example in relationto FIG. 1.

At 812, said system determines if further training is required. If not,training completes at 814, but otherwise training continues usingadditional selected examples of aspects of motion.

Inference and Training Logic

FIG. 9A illustrates inference and/or training logic 915 used to performinferencing and/or training operations associated with one or moreembodiments. Details regarding inference and/or training logic 915 areprovided below in conjunction with FIGS. 9A and/or 9B.

In at least one embodiment, inference and/or training logic 915 mayinclude, without limitation, code and/or data storage 901 to storeforward and/or output weight and/or input/output data, and/or otherparameters to configure neurons or layers of a neural network trainedand/or used for inferencing in aspects of one or more embodiments. In atleast one embodiment, training logic 915 may include, or be coupled tocode and/or data storage 901 to store graph code or other software tocontrol timing and/or order, in which weight and/or other parameterinformation is to be loaded to configure, logic, including integerand/or floating point units (collectively, arithmetic logic units(ALUs). In at least one embodiment, code, such as graph code, loadsweight or other parameter information into processor ALUs based on anarchitecture of a neural network to which such code corresponds. In atleast one embodiment, code and/or data storage 901 stores weightparameters and/or input/output data of each layer of a neural networktrained or used in conjunction with one or more embodiments duringforward propagation of input/output data and/or weight parameters duringtraining and/or inferencing using aspects of one or more embodiments. Inat least one embodiment, any portion of code and/or data storage 901 maybe included with other on-chip or off-chip data storage, including aprocessor's L1, L2, or L3 cache or system memory.

In at least one embodiment, any portion of code and/or data storage 901may be internal or external to one or more processors or other hardwarelogic devices or circuits. In at least one embodiment, code and/or codeand/or data storage 901 may be cache memory, dynamic randomlyaddressable memory (“DRAM”), static randomly addressable memory(“SRAM”), non-volatile memory (e.g., flash memory), or other storage. Inat least one embodiment, a choice of whether code and/or code and/ordata storage 901 is internal or external to a processor, for example, orcomprising DRAM, SRAM, flash or some other storage type may depend onavailable storage on-chip versus off-chip, latency requirements oftraining and/or inferencing functions being performed, batch size ofdata used in inferencing and/or training of a neural network, or somecombination of these factors.

In at least one embodiment, inference and/or training logic 915 mayinclude, without limitation, a code and/or data storage 905 to storebackward and/or output weight and/or input/output data corresponding toneurons or layers of a neural network trained and/or used forinferencing in aspects of one or more embodiments. In at least oneembodiment, code and/or data storage 905 stores weight parameters and/orinput/output data of each layer of a neural network trained or used inconjunction with one or more embodiments during backward propagation ofinput/output data and/or weight parameters during training and/orinferencing using aspects of one or more embodiments. In at least oneembodiment, training logic 915 may include, or be coupled to code and/ordata storage 905 to store graph code or other software to control timingand/or order, in which weight and/or other parameter information is tobe loaded to configure, logic, including integer and/or floating pointunits (collectively, arithmetic logic units (ALUs).

In at least one embodiment, code, such as graph code, causes the loadingof weight or other parameter information into processor ALUs based on anarchitecture of a neural network to which such code corresponds. In atleast one embodiment, any portion of code and/or data storage 905 may beincluded with other on-chip or off-chip data storage, including aprocessor's L1, L2, or L3 cache or system memory. In at least oneembodiment, any portion of code and/or data storage 905 may be internalor external to one or more processors or other hardware logic devices orcircuits. In at least one embodiment, code and/or data storage 905 maybe cache memory, DRAM, SRAM, non-volatile memory (e.g., flash memory),or other storage. In at least one embodiment, a choice of whether codeand/or data storage 905 is internal or external to a processor, forexample, or comprising DRAM, SRAM, flash memory or some other storagetype may depend on available storage on-chip versus off-chip, latencyrequirements of training and/or inferencing functions being performed,batch size of data used in inferencing and/or training of a neuralnetwork, or some combination of these factors.

In at least one embodiment, code and/or data storage 901 and code and/ordata storage 905 may be separate storage structures. In at least oneembodiment, code and/or data storage 901 and code and/or data storage905 may be a combined storage structure. In at least one embodiment,code and/or data storage 901 and code and/or data storage 905 may bepartially combined and partially separate. In at least one embodiment,any portion of code and/or data storage 901 and code and/or data storage905 may be included with other on-chip or off-chip data storage,including a processor's L1, L2, or L3 cache or system memory.

In at least one embodiment, inference and/or training logic 915 mayinclude, without limitation, one or more arithmetic logic unit(s)(“ALU(s)”) 910, including integer and/or floating point units, toperform logical and/or mathematical operations based, at least in parton, or indicated by, training and/or inference code (e.g., graph code),a result of which may produce activations (e.g., output values fromlayers or neurons within a neural network) stored in an activationstorage 920 that are functions of input/output and/or weight parameterdata stored in code and/or data storage 901 and/or code and/or datastorage 905. In at least one embodiment, activations stored inactivation storage 920 are generated according to linear algebraic andor matrix-based mathematics performed by ALU(s) 910 in response toperforming instructions or other code, wherein weight values stored incode and/or data storage 905 and/or data storage 901 are used asoperands along with other values, such as bias values, gradientinformation, momentum values, or other parameters or hyperparameters,any or all of which may be stored in code and/or data storage 905 orcode and/or data storage 901 or another storage on or off-chip.

In at least one embodiment, ALU(s) 910 are included within one or moreprocessors or other hardware logic devices or circuits, whereas inanother embodiment, ALU(s) 910 may be external to a processor or otherhardware logic device or circuit that uses them (e.g., a co-processor).In at least one embodiment, ALUs 910 may be included within aprocessor's execution units or otherwise within a bank of ALUsaccessible by a processor's execution units either within same processoror distributed between different processors of different types (e.g.,central processing units, graphics processing units, fixed functionunits, etc.). In at least one embodiment, code and/or data storage 901,code and/or data storage 905, and activation storage 920 may share aprocessor or other hardware logic device or circuit, whereas in anotherembodiment, they may be in different processors or other hardware logicdevices or circuits, or some combination of same and differentprocessors or other hardware logic devices or circuits. In at least oneembodiment, any portion of activation storage 920 may be included withother on-chip or off-chip data storage, including a processor's L1, L2,or L3 cache or system memory. Furthermore, inferencing and/or trainingcode may be stored with other code accessible to a processor or otherhardware logic or circuit and fetched and/or processed using aprocessor's fetch, decode, scheduling, execution, retirement and/orother logical circuits.

In at least one embodiment, activation storage 920 may be cache memory,DRAM, SRAM, non-volatile memory (e.g., flash memory), or other storage.In at least one embodiment, activation storage 920 may be completely orpartially within or external to one or more processors or other logicalcircuits. In at least one embodiment, a choice of whether activationstorage 920 is internal or external to a processor, for example, orcomprising DRAM, SRAM, flash memory or some other storage type maydepend on available storage on-chip versus off-chip, latencyrequirements of training and/or inferencing functions being performed,batch size of data used in inferencing and/or training of a neuralnetwork, or some combination of these factors.

In at least one embodiment, inference and/or training logic 915illustrated in FIG. 9A may be used in conjunction with anapplication-specific integrated circuit (“ASIC”), such as a TensorFlow®Processing Unit from Google, an inference processing unit (IPU) fromGraphcore™, or a Nervana® (e.g., “Lake Crest”) processor from IntelCorp. In at least one embodiment, inference and/or training logic 915illustrated in FIG. 9A may be used in conjunction with centralprocessing unit (“CPU”) hardware, graphics processing unit (“GPU”)hardware or other hardware, such as field programmable gate arrays(“FPGAs”).

FIG. 9B illustrates inference and/or training logic 915, according to atleast one embodiment. In at least one embodiment, inference and/ortraining logic 915 may include, without limitation, hardware logic inwhich computational resources are dedicated or otherwise exclusivelyused in conjunction with weight values or other informationcorresponding to one or more layers of neurons within a neural network.In at least one embodiment, inference and/or training logic 915illustrated in FIG. 9B may be used in conjunction with anapplication-specific integrated circuit (ASIC), such as TensorFlow®Processing Unit from Google, an inference processing unit (IPU) fromGraphcore™, or a Nervana® (e.g., “Lake Crest”) processor from IntelCorp. In at least one embodiment, inference and/or training logic 915illustrated in FIG. 9B may be used in conjunction with centralprocessing unit (CPU) hardware, graphics processing unit (GPU) hardwareor other hardware, such as field programmable gate arrays (FPGAs). In atleast one embodiment, inference and/or training logic 915 includes,without limitation, code and/or data storage 901 and code and/or datastorage 905, which may be used to store code (e.g., graph code), weightvalues and/or other information, including bias values, gradientinformation, momentum values, and/or other parameter or hyperparameterinformation. In at least one embodiment illustrated in FIG. 9B, each ofcode and/or data storage 901 and code and/or data storage 905 isassociated with a dedicated computational resource, such ascomputational hardware 902 and computational hardware 906, respectively.In at least one embodiment, each of computational hardware 902 andcomputational hardware 906 comprises one or more ALUs that performmathematical functions, such as linear algebraic functions, only oninformation stored in code and/or data storage 901 and code and/or datastorage 905, respectively, result of which is stored in activationstorage 920.

In at least one embodiment, each of code and/or data storage 901 and 905and corresponding computational hardware 902 and 906, respectively,correspond to different layers of a neural network, such that resultingactivation from one storage/computational pair 901/902 of code and/ordata storage 901 and computational hardware 902 is provided as an inputto a next storage/computational pair 905/906 of code and/or data storage905 and computational hardware 906, in order to mirror a conceptualorganization of a neural network. In at least one embodiment, each ofstorage/computational pairs 901/902 and 905/906 may correspond to morethan one neural network layer. In at least one embodiment, additionalstorage/computation pairs (not shown) subsequent to or in parallel withstorage/computation pairs 901/902 and 905/906 may be included ininference and/or training logic 915.

Neural Network Training and Deployment

FIG. 10 illustrates training and deployment of a deep neural network,according to at least one embodiment. In at least one embodiment,untrained neural network 1006 is trained using a training dataset 1002.In at least one embodiment, training framework 1004 is a PyTorchframework, whereas in other embodiments, training framework 1004 is aTensorFlow, Boost, Caffe, Microsoft Cognitive Toolkit/CNTK, MXNet,Chainer, Keras, Deeplearning4j, or other training framework. In at leastone embodiment, training framework 1004 trains an untrained neuralnetwork 1006 and enables it to be trained using processing resourcesdescribed herein to generate a trained neural network 1008. In at leastone embodiment, weights may be chosen randomly or by pre-training usinga deep belief network. In at least one embodiment, training may beperformed in either a supervised, partially supervised, or unsupervisedmanner.

In at least one embodiment, untrained neural network 1006 is trainedusing supervised learning, wherein training dataset 1002 includes aninput paired with a desired output for an input, or where trainingdataset 1002 includes input having a known output and an output ofneural network 1006 is manually graded. In at least one embodiment,untrained neural network 1006 is trained in a supervised manner andprocesses inputs from training dataset 1002 and compares resultingoutputs against a set of expected or desired outputs. In at least oneembodiment, errors are then propagated back through untrained neuralnetwork 1006. In at least one embodiment, training framework 1004adjusts weights that control untrained neural network 1006. In at leastone embodiment, training framework 1004 includes tools to monitor howwell untrained neural network 1006 is converging towards a model, suchas trained neural network 1008, suitable to generating correct answers,such as in result 1014, based on input data such as a new dataset 1012.In at least one embodiment, training framework 1004 trains untrainedneural network 1006 repeatedly while adjust weights to refine an outputof untrained neural network 1006 using a loss function and adjustmentalgorithm, such as stochastic gradient descent. In at least oneembodiment, training framework 1004 trains untrained neural network 1006until untrained neural network 1006 achieves a desired accuracy. In atleast one embodiment, trained neural network 1008 can then be deployedto implement any number of machine learning operations.

In at least one embodiment, untrained neural network 1006 is trainedusing unsupervised learning, wherein untrained neural network 1006attempts to train itself using unlabeled data. In at least oneembodiment, unsupervised learning training dataset 1002 will includeinput data without any associated output data or “ground truth” data. Inat least one embodiment, untrained neural network 1006 can learngroupings within training dataset 1002 and can determine how individualinputs are related to untrained dataset 1002. In at least oneembodiment, unsupervised training can be used to generate aself-organizing map in trained neural network 1008 capable of performingoperations useful in reducing dimensionality of new dataset 1012. In atleast one embodiment, unsupervised training can also be used to performanomaly detection, which allows identification of data points in newdataset 1012 that deviate from normal patterns of new dataset 1012.

In at least one embodiment, semi-supervised learning may be used, whichis a technique in which in training dataset 1002 includes a mix oflabeled and unlabeled data. In at least one embodiment, trainingframework 1004 may be used to perform incremental learning, such asthrough transferred learning techniques. In at least one embodiment,incremental learning enables trained neural network 1008 to adapt to newdataset 1012 without forgetting knowledge instilled within trainedneural network 1008 during initial training.

Data Center

FIG. 11 illustrates an example data center 1100, in which at least oneembodiment may be used. In at least one embodiment, data center 1100includes a data center infrastructure layer 1110, a framework layer1120, a software layer 1130 and an application layer 1140.

In at least one embodiment, as shown in FIG. 11, data centerinfrastructure layer 1110 may include a resource orchestrator 1112,grouped computing resources 1114, and node computing resources (“nodeC.R.s”) 1116(1)-1116(N), where “N” represents a positive integer (whichmay be a different integer “N” than used in other figures). In at leastone embodiment, node C.R.s 1116(1)-1116(N) may include, but are notlimited to, any number of central processing units (“CPUs”) or otherprocessors (including accelerators, field programmable gate arrays(FPGAs), graphics processors, etc.), memory storage devices1118(1)-1118(N) (e.g., dynamic read-only memory, solid state storage ordisk drives), network input/output (“NW I/O”) devices, network switches,virtual machines (“VMs”), power modules, and cooling modules, etc. In atleast one embodiment, one or more node C.R.s from among node C.R.s1116(1)-1116(N) may be a server having one or more of above-mentionedcomputing resources.

In at least one embodiment, grouped computing resources 1114 may includeseparate groupings of node C.R.s housed within one or more racks (notshown), or many racks housed in data centers at various geographicallocations (also not shown). In at least one embodiment, separategroupings of node C.R.s within grouped computing resources 1114 mayinclude grouped compute, network, memory or storage resources that maybe configured or allocated to support one or more workloads. In at leastone embodiment, several node C.R.s including CPUs or processors maygrouped within one or more racks to provide compute resources to supportone or more workloads. In at least one embodiment, one or more racks mayalso include any number of power modules, cooling modules, and networkswitches, in any combination.

In at least one embodiment, resource orchestrator 1112 may configure orotherwise control one or more node C.R.s 1116(1)-1116(N) and/or groupedcomputing resources 1114. In at least one embodiment, resourceorchestrator 1112 may include a software design infrastructure (“SDI”)management entity for data center 1100. In at least one embodiment,resource orchestrator 912 may include hardware, software or somecombination thereof.

In at least one embodiment, as shown in FIG. 11, framework layer 1120includes a job scheduler 1122, a configuration manager 1124, a resourcemanager 1126 and a distributed file system 1128. In at least oneembodiment, framework layer 1120 may include a framework to supportsoftware 1132 of software layer 1130 and/or one or more application(s)1142 of application layer 1140. In at least one embodiment, software1132 or application(s) 1142 may respectively include web-based servicesoftware or applications, such as those provided by Amazon Web Services,Google Cloud and Microsoft Azure. In at least one embodiment, frameworklayer 1120 may be, but is not limited to, a type of free and open-sourcesoftware web application framework such as Apache Spark™ (hereinafter“Spark”) that may utilize distributed file system 1128 for large-scaledata processing (e.g., “big data”). In at least one embodiment, jobscheduler 1132 may include a Spark driver to facilitate scheduling ofworkloads supported by various layers of data center 1100. In at leastone embodiment, configuration manager 1124 may be capable of configuringdifferent layers such as software layer 1130 and framework layer 1120including Spark and distributed file system 1128 for supportinglarge-scale data processing. In at least one embodiment, resourcemanager 1126 may be capable of managing clustered or grouped computingresources mapped to or allocated for support of distributed file system1128 and job scheduler 1122. In at least one embodiment, clustered orgrouped computing resources may include grouped computing resources 1114at data center infrastructure layer 1110. In at least one embodiment,resource manager 1126 may coordinate with resource orchestrator 1112 tomanage these mapped or allocated computing resources.

In at least one embodiment, software 1132 included in software layer1130 may include software used by at least portions of node C.R.s1116(1)-1116(N), grouped computing resources 1114, and/or distributedfile system 1128 of framework layer 1120. In at least one embodiment,one or more types of software may include, but are not limited to,Internet web page search software, e-mail virus scan software, databasesoftware, and streaming video content software.

In at least one embodiment, application(s) 1142 included in applicationlayer 1140 may include one or more types of applications used by atleast portions of node C.R.s 1116(1)-1116(N), grouped computingresources 1114, and/or distributed file system 1128 of framework layer1120. In at least one embodiment, one or more types of applications mayinclude, but are not limited to, any number of a genomics application, acognitive compute, application and a machine learning application,including training or inferencing software, machine learning frameworksoftware (e.g., PyTorch, TensorFlow, Caffe, etc.) or other machinelearning applications used in conjunction with one or more embodiments.

In at least one embodiment, any of configuration manager 1124, resourcemanager 1126, and resource orchestrator 1112 may implement any numberand type of self-modifying actions based on any amount and type of dataacquired in any technically feasible fashion. In at least oneembodiment, self-modifying actions may relieve a data center operator ofdata center 1100 from making possibly bad configuration decisions andpossibly avoiding underutilized and/or poor performing portions of adata center.

In at least one embodiment, data center 1100 may include tools,services, software or other resources to train one or more machinelearning models or predict or infer information using one or moremachine learning models according to one or more embodiments describedherein. For example, in at least one embodiment, a machine learningmodel may be trained by calculating weight parameters according to aneural network architecture using software and computing resourcesdescribed above with respect to data center 1100. In at least oneembodiment, trained machine learning models corresponding to one or moreneural networks may be used to infer or predict information usingresources described above with respect to data center 1100 by usingweight parameters calculated through one or more training techniquesdescribed herein.

In at least one embodiment, data center may use CPUs,application-specific integrated circuits (ASICs), GPUs, FPGAs, or otherhardware to perform training and/or inferencing using above-describedresources. Moreover, one or more software and/or hardware resourcesdescribed above may be configured as a service to allow users to trainor performing inferencing of information, such as image recognition,speech recognition, or other artificial intelligence services.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 11 for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

Autonomous Vehicle

FIG. 12A illustrates an example of an autonomous vehicle 1200, accordingto at least one embodiment. In at least one embodiment, autonomousvehicle 1200 (alternatively referred to herein as “vehicle 1200”) maybe, without limitation, a passenger vehicle, such as a car, a truck, abus, and/or another type of vehicle that accommodates one or morepassengers. In at least one embodiment, vehicle 1200 may be asemi-tractor-trailer truck used for hauling cargo. In at least oneembodiment, vehicle 1200 may be an airplane, robotic vehicle, or otherkind of vehicle.

Autonomous vehicles may be described in terms of automation levels,defined by National Highway Traffic Safety Administration (“NHTSA”), adivision of US Department of Transportation, and Society of AutomotiveEngineers (“SAE”) “Taxonomy and Definitions for Terms Related to DrivingAutomation Systems for On-Road Motor Vehicles” (e.g., Standard No.J3016-201806, published on Jun. 15, 2018, Standard No. J3016-201609,published on Sep. 30, 2016, and previous and future versions of thisstandard). In at least one embodiment, vehicle 1200 may be capable offunctionality in accordance with one or more of Level 1 through Level 5of autonomous driving levels. For example, in at least one embodiment,vehicle 1200 may be capable of conditional automation (Level 3), highautomation (Level 4), and/or full automation (Level 5), depending onembodiment.

In at least one embodiment, vehicle 1200 may include, withoutlimitation, components such as a chassis, a vehicle body, wheels (e.g.,2, 4, 6, 8, 18, etc.), tires, axles, and other components of a vehicle.In at least one embodiment, vehicle 1200 may include, withoutlimitation, a propulsion system 1250, such as an internal combustionengine, hybrid electric power plant, an all-electric engine, and/oranother propulsion system type. In at least one embodiment, propulsionsystem 1250 may be connected to a drive train of vehicle 1200, which mayinclude, without limitation, a transmission, to enable propulsion ofvehicle 1200. In at least one embodiment, propulsion system 1250 may becontrolled in response to receiving signals from athrottle/accelerator(s) 1252.

In at least one embodiment, a steering system 1254, which may include,without limitation, a steering wheel, is used to steer vehicle 1200(e.g., along a desired path or route) when propulsion system 1250 isoperating (e.g., when vehicle 1200 is in motion). In at least oneembodiment, steering system 1254 may receive signals from steeringactuator(s) 1256. In at least one embodiment, a steering wheel may beoptional for full automation (Level 5) functionality. In at least oneembodiment, a brake sensor system 1246 may be used to operate vehiclebrakes in response to receiving signals from brake actuator(s) 1248and/or brake sensors.

In at least one embodiment, controller(s) 1236, which may include,without limitation, one or more system on chips (“SoCs”) (not shown inFIG. 12A) and/or graphics processing unit(s) (“GPU(s)”), provide signals(e.g., representative of commands) to one or more components and/orsystems of vehicle 1200. For instance, in at least one embodiment,controller(s) 1236 may send signals to operate vehicle brakes via brakeactuator(s) 1248, to operate steering system 1254 via steeringactuator(s) 1256, to operate propulsion system 1250 viathrottle/accelerator(s) 1252. In at least one embodiment, controller(s)1236 may include one or more onboard (e.g., integrated) computingdevices that process sensor signals, and output operation commands(e.g., signals representing commands) to enable autonomous drivingand/or to assist a human driver in driving vehicle 1200. In at least oneembodiment, controller(s) 1236 may include a first controller forautonomous driving functions, a second controller for functional safetyfunctions, a third controller for artificial intelligence functionality(e.g., computer vision), a fourth controller for infotainmentfunctionality, a fifth controller for redundancy in emergencyconditions, and/or other controllers. In at least one embodiment, asingle controller may handle two or more of above functionalities, twoor more controllers may handle a single functionality, and/or anycombination thereof.

In at least one embodiment, controller(s) 1236 provide signals forcontrolling one or more components and/or systems of vehicle 1200 inresponse to sensor data received from one or more sensors (e.g., sensorinputs). In at least one embodiment, sensor data may be received from,for example and without limitation, global navigation satellite systems(“GNSS”) sensor(s) 1258 (e.g., Global Positioning System sensor(s)),RADAR sensor(s) 1260, ultrasonic sensor(s) 1262, LIDAR sensor(s) 1264,inertial measurement unit (“IMU”) sensor(s) 1266 (e.g.,accelerometer(s), gyroscope(s), a magnetic compass or magneticcompasses, magnetometer(s), etc.), microphone(s) 1296, stereo camera(s)1268, wide-view camera(s) 1270 (e.g., fisheye cameras), infraredcamera(s) 1272, surround camera(s) 1274 (e.g., 360 degree cameras),long-range cameras (not shown in FIG. 12A), mid-range camera(s) (notshown in FIG. 12A), speed sensor(s) 1244 (e.g., for measuring speed ofvehicle 1200), vibration sensor(s) 1242, steering sensor(s) 1240, brakesensor(s) (e.g., as part of brake sensor system 1246), and/or othersensor types.

In at least one embodiment, one or more of controller(s) 1236 mayreceive inputs (e.g., represented by input data) from an instrumentcluster 1232 of vehicle 1200 and provide outputs (e.g., represented byoutput data, display data, etc.) via a human-machine interface (“HMI”)display 1234, an audible annunciator, a loudspeaker, and/or via othercomponents of vehicle 1200. In at least one embodiment, outputs mayinclude information such as vehicle velocity, speed, time, map data(e.g., a High Definition map (not shown in FIG. 12A), location data(e.g., vehicle's 1200 location, such as on a map), direction, locationof other vehicles (e.g., an occupancy grid), information about objectsand status of objects as perceived by controller(s) 1236, etc. Forexample, in at least one embodiment, HMI display 1234 may displayinformation about presence of one or more objects (e.g., a street sign,caution sign, traffic light changing, etc.), and/or information aboutdriving maneuvers vehicle has made, is making, or will make (e.g.,changing lanes now, taking exit 34B in two miles, etc.).

In at least one embodiment, vehicle 1200 further includes a networkinterface 1224 which may use wireless antenna(s) 1226 and/or modem(s) tocommunicate over one or more networks. For example, in at least oneembodiment, network interface 1224 may be capable of communication overLong-Term Evolution (“LTE”), Wideband Code Division Multiple Access(“WCDMA”), Universal Mobile Telecommunications System (“UMTS”), GlobalSystem for Mobile communication (“GSM”), IMT-CDMA Multi-Carrier(“CDMA2000”) networks, etc. In at least one embodiment, wirelessantenna(s) 1226 may also enable communication between objects inenvironment (e.g., vehicles, mobile devices, etc.), using local areanetwork(s), such as Bluetooth, Bluetooth Low Energy (“LE”), Z-Wave,ZigBee, etc., and/or low power wide-area network(s) (“LPWANs”), such asLoRaWAN, SigFox, etc. protocols.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 12A for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 12B illustrates an example of camera locations and fields of viewfor autonomous vehicle 1200 of FIG. 12A, according to at least oneembodiment. In at least one embodiment, cameras and respective fields ofview are one example embodiment and are not intended to be limiting. Forinstance, in at least one embodiment, additional and/or alternativecameras may be included and/or cameras may be located at differentlocations on vehicle 1200.

In at least one embodiment, camera types for cameras may include, butare not limited to, digital cameras that may be adapted for use withcomponents and/or systems of vehicle 1200. In at least one embodiment,camera(s) may operate at automotive safety integrity level (“ASIL”) Band/or at another ASIL. In at least one embodiment, camera types may becapable of any image capture rate, such as 60 frames per second (fps),1220 fps, 240 fps, etc., depending on embodiment. In at least oneembodiment, cameras may be capable of using rolling shutters, globalshutters, another type of shutter, or a combination thereof. In at leastone embodiment, color filter array may include a red clear clear clear(“RCCC”) color filter array, a red clear clear blue (“RCCB”) colorfilter array, a red blue green clear (“RBGC”) color filter array, aFoveon X3 color filter array, a Bayer sensors (“RGGB”) color filterarray, a monochrome sensor color filter array, and/or another type ofcolor filter array. In at least one embodiment, clear pixel cameras,such as cameras with an RCCC, an RCCB, and/or an RBGC color filterarray, may be used in an effort to increase light sensitivity.

In at least one embodiment, one or more of camera(s) may be used toperform advanced driver assistance systems (“ADAS”) functions (e.g., aspart of a redundant or fail-safe design). For example, in at least oneembodiment, a Multi-Function Mono Camera may be installed to providefunctions including lane departure warning, traffic sign assist andintelligent headlamp control. In at least one embodiment, one or more ofcamera(s) (e.g., all cameras) may record and provide image data (e.g.,video) simultaneously.

In at least one embodiment, one or more camera may be mounted in amounting assembly, such as a custom designed (three-dimensional (“3D”)printed) assembly, in order to cut out stray light and reflections fromwithin vehicle 1200 (e.g., reflections from dashboard reflected inwindshield mirrors) which may interfere with camera image data captureabilities. With reference to wing-mirror mounting assemblies, in atleast one embodiment, wing-mirror assemblies may be custom 3D printed sothat a camera mounting plate matches a shape of a wing-mirror. In atleast one embodiment, camera(s) may be integrated into wing-mirrors. Inat least one embodiment, for side-view cameras, camera(s) may also beintegrated within four pillars at each corner of a cabin.

In at least one embodiment, cameras with a field of view that includeportions of an environment in front of vehicle 1200 (e.g., front-facingcameras) may be used for surround view, to help identify forward facingpaths and obstacles, as well as aid in, with help of one or more ofcontroller(s) 1236 and/or control SoCs, providing information criticalto generating an occupancy grid and/or determining preferred vehiclepaths. In at least one embodiment, front-facing cameras may be used toperform many similar ADAS functions as LIDAR, including, withoutlimitation, emergency braking, pedestrian detection, and collisionavoidance. In at least one embodiment, front-facing cameras may also beused for ADAS functions and systems including, without limitation, LaneDeparture Warnings (“LDW”), Autonomous Cruise Control (“ACC”), and/orother functions such as traffic sign recognition.

In at least one embodiment, a variety of cameras may be used in afront-facing configuration, including, for example, a monocular cameraplatform that includes a CMOS (“complementary metal oxidesemiconductor”) color imager. In at least one embodiment, a wide-viewcamera 1270 may be used to perceive objects coming into view from aperiphery (e.g., pedestrians, crossing traffic or bicycles). Althoughonly one wide-view camera 1270 is illustrated in FIG. 12B, in otherembodiments, there may be any number (including zero) wide-view camerason vehicle 1200. In at least one embodiment, any number of long-rangecamera(s) 1298 (e.g., a long-view stereo camera pair) may be used fordepth-based object detection, especially for objects for which a neuralnetwork has not yet been trained. In at least one embodiment, long-rangecamera(s) 1298 may also be used for object detection and classification,as well as basic object tracking.

In at least one embodiment, any number of stereo camera(s) 1268 may alsobe included in a front-facing configuration. In at least one embodiment,one or more of stereo camera(s) 1268 may include an integrated controlunit comprising a scalable processing unit, which may provide aprogrammable logic (“FPGA”) and a multi-core micro-processor with anintegrated Controller Area Network (“CAN”) or Ethernet interface on asingle chip. In at least one embodiment, such a unit may be used togenerate a 3D map of an environment of vehicle 1200, including adistance estimate for all points in an image. In at least oneembodiment, one or more of stereo camera(s) 1268 may include, withoutlimitation, compact stereo vision sensor(s) that may include, withoutlimitation, two camera lenses (one each on left and right) and an imageprocessing chip that may measure distance from vehicle 1200 to targetobject and use generated information (e.g., metadata) to activateautonomous emergency braking and lane departure warning functions. In atleast one embodiment, other types of stereo camera(s) 1268 may be usedin addition to, or alternatively from, those described herein.

In at least one embodiment, cameras with a field of view that includeportions of environment to sides of vehicle 1200 (e.g., side-viewcameras) may be used for surround view, providing information used tocreate and update an occupancy grid, as well as to generate side impactcollision warnings. For example, in at least one embodiment, surroundcamera(s) 1274 (e.g., four surround cameras as illustrated in FIG. 12B)could be positioned on vehicle 1200. In at least one embodiment,surround camera(s) 1274 may include, without limitation, any number andcombination of wide-view cameras, fisheye camera(s), 360 degreecamera(s), and/or similar cameras. For instance, in at least oneembodiment, four fisheye cameras may be positioned on a front, a rear,and sides of vehicle 1200. In at least one embodiment, vehicle 1200 mayuse three surround camera(s) 1274 (e.g., left, right, and rear), and mayleverage one or more other camera(s) (e.g., a forward-facing camera) asa fourth surround-view camera.

In at least one embodiment, cameras with a field of view that includeportions of an environment behind vehicle 1200 (e.g., rear-view cameras)may be used for parking assistance, surround view, rear collisionwarnings, and creating and updating an occupancy grid. In at least oneembodiment, a wide variety of cameras may be used including, but notlimited to, cameras that are also suitable as a front-facing camera(s)(e.g., long-range cameras 1298 and/or mid-range camera(s) 1276, stereocamera(s) 1268), infrared camera(s) 1272, etc.), as described herein.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 12B for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 12C is a block diagram illustrating an example system architecturefor autonomous vehicle 1200 of FIG. 12A, according to at least oneembodiment. In at least one embodiment, each of components, features,and systems of vehicle 1200 in FIG. 12C is illustrated as beingconnected via a bus 1202. In at least one embodiment, bus 1202 mayinclude, without limitation, a CAN data interface (alternativelyreferred to herein as a “CAN bus”). In at least one embodiment, a CANmay be a network inside vehicle 1200 used to aid in control of variousfeatures and functionality of vehicle 1200, such as actuation of brakes,acceleration, braking, steering, windshield wipers, etc. In at least oneembodiment, bus 1202 may be configured to have dozens or even hundredsof nodes, each with its own unique identifier (e.g., a CAN ID). In atleast one embodiment, bus 1202 may be read to find steering wheel angle,ground speed, engine revolutions per minute (“RPMs”), button positions,and/or other vehicle status indicators. In at least one embodiment, bus1202 may be a CAN bus that is ASIL B compliant.

In at least one embodiment, in addition to, or alternatively from CAN,FlexRay and/or Ethernet protocols may be used. In at least oneembodiment, there may be any number of busses forming bus 1202, whichmay include, without limitation, zero or more CAN busses, zero or moreFlexRay busses, zero or more Ethernet busses, and/or zero or more othertypes of busses using different protocols. In at least one embodiment,two or more busses may be used to perform different functions, and/ormay be used for redundancy. For example, a first bus may be used forcollision avoidance functionality and a second bus may be used foractuation control. In at least one embodiment, each bus of bus 1202 maycommunicate with any of components of vehicle 1200, and two or morebusses of bus 1202 may communicate with corresponding components. In atleast one embodiment, each of any number of system(s) on chip(s)(“SoC(s)”) 1204 (such as SoC 1204(A) and SoC 1204(B), each ofcontroller(s) 1236, and/or each computer within vehicle may have accessto same input data (e.g., inputs from sensors of vehicle 1200), and maybe connected to a common bus, such CAN bus.

In at least one embodiment, vehicle 1200 may include one or morecontroller(s) 1236, such as those described herein with respect to FIG.12A. In at least one embodiment, controller(s) 1236 may be used for avariety of functions. In at least one embodiment, controller(s) 1236 maybe coupled to any of various other components and systems of vehicle1200, and may be used for control of vehicle 1200, artificialintelligence of vehicle 1200, infotainment for vehicle 1200, and/orother functions.

In at least one embodiment, vehicle 1200 may include any number of SoCs1204. In at least one embodiment, each of SoCs 1204 may include, withoutlimitation, central processing units (“CPU(s)”) 1206, graphicsprocessing units (“GPU(s)”) 1208, processor(s) 1210, cache(s) 1212,accelerator(s) 1214, data store(s) 1216, and/or other components andfeatures not illustrated. In at least one embodiment, SoC(s) 1204 may beused to control vehicle 1200 in a variety of platforms and systems. Forexample, in at least one embodiment, SoC(s) 1204 may be combined in asystem (e.g., system of vehicle 1200) with a High Definition (“HD”) map1222 which may obtain map refreshes and/or updates via network interface1224 from one or more servers (not shown in FIG. 12C).

In at least one embodiment, CPU(s) 1206 may include a CPU cluster or CPUcomplex (alternatively referred to herein as a “CCPLEX”). In at leastone embodiment, CPU(s) 1206 may include multiple cores and/or level two(“L2”) caches. For instance, in at least one embodiment, CPU(s) 1206 mayinclude eight cores in a coherent multi-processor configuration. In atleast one embodiment, CPU(s) 1206 may include four dual-core clusterswhere each cluster has a dedicated L2 cache (e.g., a 2 megabyte (MB) L2cache). In at least one embodiment, CPU(s) 1206 (e.g., CCPLEX) may beconfigured to support simultaneous cluster operations enabling anycombination of clusters of CPU(s) 1206 to be active at any given time.

In at least one embodiment, one or more of CPU(s) 1206 may implementpower management capabilities that include, without limitation, one ormore of following features: individual hardware blocks may beclock-gated automatically when idle to save dynamic power; each coreclock may be gated when such core is not actively executing instructionsdue to execution of Wait for Interrupt (“WFI”)/Wait for Event (“WFE”)instructions; each core may be independently power-gated; each corecluster may be independently clock-gated when all cores are clock-gatedor power-gated; and/or each core cluster may be independentlypower-gated when all cores are power-gated. In at least one embodiment,CPU(s) 1206 may further implement an enhanced algorithm for managingpower states, where allowed power states and expected wakeup times arespecified, and hardware/microcode determines which best power state toenter for core, cluster, and CCPLEX. In at least one embodiment,processing cores may support simplified power state entry sequences insoftware with work offloaded to microcode.

In at least one embodiment, GPU(s) 1208 may include an integrated GPU(alternatively referred to herein as an “iGPU”). In at least oneembodiment, GPU(s) 1208 may be programmable and may be efficient forparallel workloads. In at least one embodiment, GPU(s) 1208 may use anenhanced tensor instruction set. In at least one embodiment, GPU(s) 1208may include one or more streaming microprocessors, where each streamingmicroprocessor may include a level one (“L1”) cache (e.g., an L1 cachewith at least 96 KB storage capacity), and two or more streamingmicroprocessors may share an L2 cache (e.g., an L2 cache with a 512 KBstorage capacity). In at least one embodiment, GPU(s) 1208 may includeat least eight streaming microprocessors. In at least one embodiment,GPU(s) 1208 may use compute application programming interface(s)(API(s)). In at least one embodiment, GPU(s) 1208 may use one or moreparallel computing platforms and/or programming models (e.g., NVIDIA'sCUDA model).

In at least one embodiment, one or more of GPU(s) 1208 may bepower-optimized for best performance in automotive and embedded usecases. For example, in at least one embodiment, GPU(s) 1208 could befabricated on Fin field-effect transistor (“FinFET”) circuitry. In atleast one embodiment, each streaming microprocessor may incorporate anumber of mixed-precision processing cores partitioned into multipleblocks. For example, and without limitation, 64 PF32 cores and 32 PF64cores could be partitioned into four processing blocks. In at least oneembodiment, each processing block could be allocated 16 FP32 cores, 8FP64 cores, 16 INT32 cores, two mixed-precision NVIDIA Tensor cores fordeep learning matrix arithmetic, a level zero (“L0”) instruction cache,a warp scheduler, a dispatch unit, and/or a 64 KB register file. In atleast one embodiment, streaming microprocessors may include independentparallel integer and floating-point data paths to provide for efficientexecution of workloads with a mix of computation and addressingcalculations. In at least one embodiment, streaming microprocessors mayinclude independent thread scheduling capability to enable finer-grainsynchronization and cooperation between parallel threads. In at leastone embodiment, streaming microprocessors may include a combined L1 datacache and shared memory unit in order to improve performance whilesimplifying programming.

In at least one embodiment, one or more of GPU(s) 1208 may include ahigh bandwidth memory (“HBM) and/or a 16 GB HBM2 memory subsystem toprovide, in some examples, about 900 GB/second peak memory bandwidth. Inat least one embodiment, in addition to, or alternatively from, HBMmemory, a synchronous graphics random-access memory (“SGRAM”) may beused, such as a graphics double data rate type five synchronousrandom-access memory (“GDDR5”).

In at least one embodiment, GPU(s) 1208 may include unified memorytechnology. In at least one embodiment, address translation services(“ATS”) support may be used to allow GPU(s) 1208 to access CPU(s) 1206page tables directly. In at least one embodiment, embodiment, when a GPUof GPU(s) 1208 memory management unit (“MMU”) experiences a miss, anaddress translation request may be transmitted to CPU(s) 1206. Inresponse, 2 CPU of CPU(s) 1206 may look in its page tables for avirtual-to-physical mapping for an address and transmit translation backto GPU(s) 1208, in at least one embodiment. In at least one embodiment,unified memory technology may allow a single unified virtual addressspace for memory of both CPU(s) 1206 and GPU(s) 1208, therebysimplifying GPU(s) 1208 programming and porting of applications toGPU(s) 1208.

In at least one embodiment, GPU(s) 1208 may include any number of accesscounters that may keep track of frequency of access of GPU(s) 1208 tomemory of other processors. In at least one embodiment, accesscounter(s) may help ensure that memory pages are moved to physicalmemory of a processor that is accessing pages most frequently, therebyimproving efficiency for memory ranges shared between processors.

In at least one embodiment, one or more of SoC(s) 1204 may include anynumber of cache(s) 1212, including those described herein. For example,in at least one embodiment, cache(s) 1212 could include a level three(“L3”) cache that is available to both CPU(s) 1206 and GPU(s) 1208(e.g., that is connected to CPU(s) 1206 and GPU(s) 1208). In at leastone embodiment, cache(s) 1212 may include a write-back cache that maykeep track of states of lines, such as by using a cache coherenceprotocol (e.g., MEI, MESI, MSI, etc.). In at least one embodiment, a L3cache may include 4 MB of memory or more, depending on embodiment,although smaller cache sizes may be used.

In at least one embodiment, one or more of SoC(s) 1204 may include oneor more accelerator(s) 1214 (e.g., hardware accelerators, softwareaccelerators, or a combination thereof). In at least one embodiment,SoC(s) 1204 may include a hardware acceleration cluster that may includeoptimized hardware accelerators and/or large on-chip memory. In at leastone embodiment, large on-chip memory (e.g., 4 MB of SRAM), may enable ahardware acceleration cluster to accelerate neural networks and othercalculations. In at least one embodiment, a hardware accelerationcluster may be used to complement GPU(s) 1208 and to off-load some oftasks of GPU(s) 1208 (e.g., to free up more cycles of GPU(s) 1208 forperforming other tasks). In at least one embodiment, accelerator(s) 1214could be used for targeted workloads (e.g., perception, convolutionalneural networks (“CNNs”), recurrent neural networks (“RNNs”), etc.) thatare stable enough to be amenable to acceleration. In at least oneembodiment, a CNN may include a region-based or regional convolutionalneural networks (“RCNNs”) and Fast RCNNs (e.g., as used for objectdetection) or other type of CNN.

In at least one embodiment, accelerator(s) 1214 (e.g., hardwareacceleration cluster) may include one or more deep learning accelerator(“DLA”). In at least one embodiment, DLA(s) may include, withoutlimitation, one or more Tensor processing units (“TPUs”) that may beconfigured to provide an additional ten trillion operations per secondfor deep learning applications and inferencing. In at least oneembodiment, TPUs may be accelerators configured to, and optimized for,performing image processing functions (e.g., for CNNs, RCNNs, etc.). Inat least one embodiment, DLA(s) may further be optimized for a specificset of neural network types and floating point operations, as well asinferencing. In at least one embodiment, design of DLA(s) may providemore performance per millimeter than a typical general-purpose GPU, andtypically vastly exceeds performance of a CPU. In at least oneembodiment, TPU(s) may perform several functions, including asingle-instance convolution function, supporting, for example, INT8,INT16, and FP16 data types for both features and weights, as well aspost-processor functions. In at least one embodiment, DLA(s) may quicklyand efficiently execute neural networks, especially CNNs, on processedor unprocessed data for any of a variety of functions, including, forexample and without limitation: a CNN for object identification anddetection using data from camera sensors; a CNN for distance estimationusing data from camera sensors; a CNN for emergency vehicle detectionand identification and detection using data from microphones; a CNN forfacial recognition and vehicle owner identification using data fromcamera sensors; and/or a CNN for security and/or safety related events.

In at least one embodiment, DLA(s) may perform any function of GPU(s)1208, and by using an inference accelerator, for example, a designer maytarget either DLA(s) or GPU(s) 1208 for any function. For example, in atleast one embodiment, a designer may focus processing of CNNs andfloating point operations on DLA(s) and leave other functions to GPU(s)1208 and/or accelerator(s) 1214.

In at least one embodiment, accelerator(s) 1214 may include programmablevision accelerator (“PVA”), which may alternatively be referred toherein as a computer vision accelerator. In at least one embodiment, PVAmay be designed and configured to accelerate computer vision algorithmsfor advanced driver assistance system (“ADAS”) 1238, autonomous driving,augmented reality (“AR”) applications, and/or virtual reality (“VR”)applications. In at least one embodiment, PVA may provide a balancebetween performance and flexibility. For example, in at least oneembodiment, each PVA may include, for example and without limitation,any number of reduced instruction set computer (“RISC”) cores, directmemory access (“DMA”), and/or any number of vector processors.

In at least one embodiment, RISC cores may interact with image sensors(e.g., image sensors of any cameras described herein), image signalprocessor(s), etc. In at least one embodiment, each RISC core mayinclude any amount of memory. In at least one embodiment, RISC cores mayuse any of a number of protocols, depending on embodiment. In at leastone embodiment, RISC cores may execute a real-time operating system(“RTOS”). In at least one embodiment, RISC cores may be implementedusing one or more integrated circuit devices, application specificintegrated circuits (“ASICs”), and/or memory devices. For example, in atleast one embodiment, RISC cores could include an instruction cacheand/or a tightly coupled RAM.

In at least one embodiment, DMA may enable components of PVA to accesssystem memory independently of CPU(s) 1206. In at least one embodiment,DMA may support any number of features used to provide optimization to aPVA including, but not limited to, supporting multi-dimensionaladdressing and/or circular addressing. In at least one embodiment, DMAmay support up to six or more dimensions of addressing, which mayinclude, without limitation, block width, block height, block depth,horizontal block stepping, vertical block stepping, and/or depthstepping.

In at least one embodiment, vector processors may be programmableprocessors that may be designed to efficiently and flexibly executeprogramming for computer vision algorithms and provide signal processingcapabilities. In at least one embodiment, a PVA may include a PVA coreand two vector processing subsystem partitions. In at least oneembodiment, a PVA core may include a processor subsystem, DMA engine(s)(e.g., two DMA engines), and/or other peripherals. In at least oneembodiment, a vector processing subsystem may operate as a primaryprocessing engine of a PVA, and may include a vector processing unit(“VPU”), an instruction cache, and/or vector memory (e.g., “VMEM”). Inat least one embodiment, VPU core may include a digital signal processorsuch as, for example, a single instruction, multiple data (“SIMD”), verylong instruction word (“VLIW”) digital signal processor. In at least oneembodiment, a combination of SIMD and VLIW may enhance throughput andspeed.

In at least one embodiment, each of vector processors may include aninstruction cache and may be coupled to dedicated memory. As a result,in at least one embodiment, each of vector processors may be configuredto execute independently of other vector processors. In at least oneembodiment, vector processors that are included in a particular PVA maybe configured to employ data parallelism. For instance, in at least oneembodiment, plurality of vector processors included in a single PVA mayexecute a common computer vision algorithm, but on different regions ofan image. In at least one embodiment, vector processors included in aparticular PVA may simultaneously execute different computer visionalgorithms, on one image, or even execute different algorithms onsequential images or portions of an image. In at least one embodiment,among other things, any number of PVAs may be included in hardwareacceleration cluster and any number of vector processors may be includedin each PVA. In at least one embodiment, PVA may include additionalerror correcting code (“ECC”) memory, to enhance overall system safety.

In at least one embodiment, accelerator(s) 1214 may include a computervision network on-chip and static random-access memory (“SRAM”), forproviding a high-bandwidth, low latency SRAM for accelerator(s) 1214. Inat least one embodiment, on-chip memory may include at least 4 MB SRAM,comprising, for example and without limitation, eight field-configurablememory blocks, that may be accessible by both a PVA and a DLA. In atleast one embodiment, each pair of memory blocks may include an advancedperipheral bus (“APB”) interface, configuration circuitry, a controller,and a multiplexer. In at least one embodiment, any type of memory may beused. In at least one embodiment, a PVA and a DLA may access memory viaa backbone that provides a PVA and a DLA with high-speed access tomemory. In at least one embodiment, a backbone may include a computervision network on-chip that interconnects a PVA and a DLA to memory(e.g., using APB).

In at least one embodiment, a computer vision network on-chip mayinclude an interface that determines, before transmission of any controlsignal/address/data, that both a PVA and a DLA provide ready and validsignals. In at least one embodiment, an interface may provide forseparate phases and separate channels for transmitting controlsignals/addresses/data, as well as burst-type communications forcontinuous data transfer. In at least one embodiment, an interface maycomply with International Organization for Standardization (“ISO”) 26262or International Electrotechnical Commission (“IEC”) 61508 standards,although other standards and protocols may be used.

In at least one embodiment, one or more of SoC(s) 1204 may include areal-time ray-tracing hardware accelerator. In at least one embodiment,real-time ray-tracing hardware accelerator may be used to quickly andefficiently determine positions and extents of objects (e.g., within aworld model), to generate real-time visualization simulations, for RADARsignal interpretation, for sound propagation synthesis and/or analysis,for simulation of SONAR systems, for general wave propagationsimulation, for comparison to LIDAR data for purposes of localizationand/or other functions, and/or for other uses.

In at least one embodiment, accelerator(s) 1214 can have a wide array ofuses for autonomous driving. In at least one embodiment, a PVA may beused for key processing stages in ADAS and autonomous vehicles. In atleast one embodiment, a PVA's capabilities are a good match foralgorithmic domains needing predictable processing, at low power and lowlatency. In other words, a PVA performs well on semi-dense or denseregular computation, even on small data sets, which might requirepredictable run-times with low latency and low power. In at least oneembodiment, such as in vehicle 1200, PVAs might be designed to runclassic computer vision algorithms, as they can be efficient at objectdetection and operating on integer math.

For example, according to at least one embodiment of technology, a PVAis used to perform computer stereo vision. In at least one embodiment, asemi-global matching-based algorithm may be used in some examples,although this is not intended to be limiting. In at least oneembodiment, applications for Level 3-5 autonomous driving use motionestimation/stereo matching on-the-fly (e.g., structure from motion,pedestrian recognition, lane detection, etc.). In at least oneembodiment, a PVA may perform computer stereo vision functions on inputsfrom two monocular cameras.

In at least one embodiment, a PVA may be used to perform dense opticalflow. For example, in at least one embodiment, a PVA could process rawRADAR data (e.g., using a 4D Fast Fourier Transform) to provideprocessed RADAR data. In at least one embodiment, a PVA is used for timeof flight depth processing, by processing raw time of flight data toprovide processed time of flight data, for example.

In at least one embodiment, a DLA may be used to run any type of networkto enhance control and driving safety, including for example and withoutlimitation, a neural network that outputs a measure of confidence foreach object detection. In at least one embodiment, confidence may berepresented or interpreted as a probability, or as providing a relative“weight” of each detection compared to other detections. In at least oneembodiment, a confidence measure enables a system to make furtherdecisions regarding which detections should be considered as truepositive detections rather than false positive detections. In at leastone embodiment, a system may set a threshold value for confidence andconsider only detections exceeding threshold value as true positivedetections. In an embodiment in which an automatic emergency braking(“AEB”) system is used, false positive detections would cause vehicle toautomatically perform emergency braking, which is obviously undesirable.In at least one embodiment, highly confident detections may beconsidered as triggers for AEB In at least one embodiment, a DLA may runa neural network for regressing confidence value. In at least oneembodiment, neural network may take as its input at least some subset ofparameters, such as bounding box dimensions, ground plane estimateobtained (e.g., from another subsystem), output from IMU sensor(s) 1266that correlates with vehicle 1200 orientation, distance, 3D locationestimates of object obtained from neural network and/or other sensors(e.g., LIDAR sensor(s) 1264 or RADAR sensor(s) 1260), among others.

In at least one embodiment, one or more of SoC(s) 1204 may include datastore(s) 1216 (e.g., memory). In at least one embodiment, data store(s)1216 may be on-chip memory of SoC(s) 1204, which may store neuralnetworks to be executed on GPU(s) 1208 and/or a DLA. In at least oneembodiment, data store(s) 1216 may be large enough in capacity to storemultiple instances of neural networks for redundancy and safety. In atleast one embodiment, data store(s) 1216 may comprise L2 or L3 cache(s).

In at least one embodiment, one or more of SoC(s) 1204 may include anynumber of processor(s) 1210 (e.g., embedded processors). In at least oneembodiment, processor(s) 1210 may include a boot and power managementprocessor that may be a dedicated processor and subsystem to handle bootpower and management functions and related security enforcement. In atleast one embodiment, a boot and power management processor may be apart of a boot sequence of SoC(s) 1204 and may provide runtime powermanagement services. In at least one embodiment, a boot power andmanagement processor may provide clock and voltage programming,assistance in system low power state transitions, management of SoC(s)1204 thermals and temperature sensors, and/or management of SoC(s) 1204power states. In at least one embodiment, each temperature sensor may beimplemented as a ring-oscillator whose output frequency is proportionalto temperature, and SoC(s) 1204 may use ring-oscillators to detecttemperatures of CPU(s) 1206, GPU(s) 1208, and/or accelerator(s) 1214. Inat least one embodiment, if temperatures are determined to exceed athreshold, then a boot and power management processor may enter atemperature fault routine and put SoC(s) 1204 into a lower power stateand/or put vehicle 1200 into a chauffeur to safe stop mode (e.g., bringvehicle 1200 to a safe stop).

In at least one embodiment, processor(s) 1210 may further include a setof embedded processors that may serve as an audio processing enginewhich may be an audio subsystem that enables full hardware support formulti-channel audio over multiple interfaces, and a broad and flexiblerange of audio I/O interfaces. In at least one embodiment, an audioprocessing engine is a dedicated processor core with a digital signalprocessor with dedicated RAM.

In at least one embodiment, processor(s) 1210 may further include analways-on processor engine that may provide necessary hardware featuresto support low power sensor management and wake use cases. In at leastone embodiment, an always-on processor engine may include, withoutlimitation, a processor core, a tightly coupled RAM, supportingperipherals (e.g., timers and interrupt controllers), various I/Ocontroller peripherals, and routing logic.

In at least one embodiment, processor(s) 1210 may further include asafety cluster engine that includes, without limitation, a dedicatedprocessor subsystem to handle safety management for automotiveapplications. In at least one embodiment, a safety cluster engine mayinclude, without limitation, two or more processor cores, a tightlycoupled RAM, support peripherals (e.g., timers, an interrupt controller,etc.), and/or routing logic. In a safety mode, two or more cores mayoperate, in at least one embodiment, in a lockstep mode and function asa single core with comparison logic to detect any differences betweentheir operations. In at least one embodiment, processor(s) 1210 mayfurther include a real-time camera engine that may include, withoutlimitation, a dedicated processor subsystem for handling real-timecamera management. In at least one embodiment, processor(s) 1210 mayfurther include a high-dynamic range signal processor that may include,without limitation, an image signal processor that is a hardware enginethat is part of a camera processing pipeline.

In at least one embodiment, processor(s) 1210 may include a video imagecompositor that may be a processing block (e.g., implemented on amicroprocessor) that implements video post-processing functions neededby a video playback application to produce a final image for a playerwindow. In at least one embodiment, a video image compositor may performlens distortion correction on wide-view camera(s) 1270, surroundcamera(s) 1274, and/or on in-cabin monitoring camera sensor(s). In atleast one embodiment, in-cabin monitoring camera sensor(s) arepreferably monitored by a neural network running on another instance ofSoC 1204, configured to identify in cabin events and respondaccordingly. In at least one embodiment, an in-cabin system may perform,without limitation, lip reading to activate cellular service and place aphone call, dictate emails, change a vehicle's destination, activate orchange a vehicle's infotainment system and settings, or providevoice-activated web surfing. In at least one embodiment, certainfunctions are available to a driver when a vehicle is operating in anautonomous mode and are disabled otherwise.

In at least one embodiment, a video image compositor may includeenhanced temporal noise reduction for both spatial and temporal noisereduction. For example, in at least one embodiment, where motion occursin a video, noise reduction weights spatial information appropriately,decreasing weights of information provided by adjacent frames. In atleast one embodiment, where an image or portion of an image does notinclude motion, temporal noise reduction performed by video imagecompositor may use information from a previous image to reduce noise ina current image.

In at least one embodiment, a video image compositor may also beconfigured to perform stereo rectification on input stereo lens frames.In at least one embodiment, a video image compositor may further be usedfor user interface composition when an operating system desktop is inuse, and GPU(s) 1208 are not required to continuously render newsurfaces. In at least one embodiment, when GPU(s) 1208 are powered onand active doing 3D rendering, a video image compositor may be used tooffload GPU(s) 1208 to improve performance and responsiveness.

In at least one embodiment, one or more SoC of SoC(s) 1204 may furtherinclude a mobile industry processor interface (“MIPI”) camera serialinterface for receiving video and input from cameras, a high-speedinterface, and/or a video input block that may be used for a camera andrelated pixel input functions. In at least one embodiment, one or moreof SoC(s) 1204 may further include an input/output controller(s) thatmay be controlled by software and may be used for receiving I/O signalsthat are uncommitted to a specific role.

In at least one embodiment, one or more Soc of SoC(s) 1204 may furtherinclude a broad range of peripheral interfaces to enable communicationwith peripherals, audio encoders/decoders (“codecs”), power management,and/or other devices. In at least one embodiment, SoC(s) 1204 may beused to process data from cameras (e.g., connected over GigabitMultimedia Serial Link and Ethernet channels), sensors (e.g., LIDARsensor(s) 1264, RADAR sensor(s) 1260, etc. that may be connected overEthernet channels), data from bus 1202 (e.g., speed of vehicle 1200,steering wheel position, etc.), data from GNSS sensor(s) 1258 (e.g.,connected over a Ethernet bus or a CAN bus), etc. In at least oneembodiment, one or more SoC of SoC(s) 1204 may further include dedicatedhigh-performance mass storage controllers that may include their own DMAengines, and that may be used to free CPU(s) 1206 from routine datamanagement tasks.

In at least one embodiment, SoC(s) 1204 may be an end-to-end platformwith a flexible architecture that spans automation Levels 3-5, therebyproviding a comprehensive functional safety architecture that leveragesand makes efficient use of computer vision and ADAS techniques fordiversity and redundancy, and provides a platform for a flexible,reliable driving software stack, along with deep learning tools. In atleast one embodiment, SoC(s) 1204 may be faster, more reliable, and evenmore energy-efficient and space-efficient than conventional systems. Forexample, in at least one embodiment, accelerator(s) 1214, when combinedwith CPU(s) 1206, GPU(s) 1208, and data store(s) 1216, may provide for afast, efficient platform for Level 3-5 autonomous vehicles.

In at least one embodiment, computer vision algorithms may be executedon CPUs, which may be configured using a high-level programminglanguage, such as C, to execute a wide variety of processing algorithmsacross a wide variety of visual data. However, in at least oneembodiment, CPUs are oftentimes unable to meet performance requirementsof many computer vision applications, such as those related to executiontime and power consumption, for example. In at least one embodiment,many CPUs are unable to execute complex object detection algorithms inreal-time, which is used in in-vehicle ADAS applications and inpractical Level 3-5 autonomous vehicles.

Embodiments described herein allow for multiple neural networks to beperformed simultaneously and/or sequentially, and for results to becombined together to enable Level 3-5 autonomous driving functionality.For example, in at least one embodiment, a CNN executing on a DLA or adiscrete GPU (e.g., GPU(s) 1220) may include text and word recognition,allowing reading and understanding of traffic signs, including signs forwhich a neural network has not been specifically trained. In at leastone embodiment, a DLA may further include a neural network that is ableto identify, interpret, and provide semantic understanding of a sign,and to pass that semantic understanding to path planning modules runningon a CPU Complex.

In at least one embodiment, multiple neural networks may be runsimultaneously, as for Level 3, 4, or 5 driving. For example, in atleast one embodiment, a warning sign stating “Caution: flashing lightsindicate icy conditions,” along with an electric light, may beindependently or collectively interpreted by several neural networks. Inat least one embodiment, such warning sign itself may be identified as atraffic sign by a first deployed neural network (e.g., a neural networkthat has been trained), text “flashing lights indicate icy conditions”may be interpreted by a second deployed neural network, which informs avehicle's path planning software (preferably executing on a CPU Complex)that when flashing lights are detected, icy conditions exist. In atleast one embodiment, a flashing light may be identified by operating athird deployed neural network over multiple frames, informing avehicle's path-planning software of a presence (or an absence) offlashing lights. In at least one embodiment, all three neural networksmay run simultaneously, such as within a DLA and/or on GPU(s) 1208.

In at least one embodiment, a CNN for facial recognition and vehicleowner identification may use data from camera sensors to identifypresence of an authorized driver and/or owner of vehicle 1200. In atleast one embodiment, an always-on sensor processing engine may be usedto unlock a vehicle when an owner approaches a driver door and turns onlights, and, in a security mode, to disable such vehicle when an ownerleaves such vehicle. In this way, SoC(s) 1204 provide for securityagainst theft and/or carjacking.

In at least one embodiment, a CNN for emergency vehicle detection andidentification may use data from microphones 1296 to detect and identifyemergency vehicle sirens. In at least one embodiment, SoC(s) 1204 use aCNN for classifying environmental and urban sounds, as well asclassifying visual data. In at least one embodiment, a CNN running on aDLA is trained to identify a relative closing speed of an emergencyvehicle (e.g., by using a Doppler effect). In at least one embodiment, aCNN may also be trained to identify emergency vehicles specific to alocal area in which a vehicle is operating, as identified by GNSSsensor(s) 1258. In at least one embodiment, when operating in Europe, aCNN will seek to detect European sirens, and when in North America, aCNN will seek to identify only North American sirens. In at least oneembodiment, once an emergency vehicle is detected, a control program maybe used to execute an emergency vehicle safety routine, slowing avehicle, pulling over to a side of a road, parking a vehicle, and/oridling a vehicle, with assistance of ultrasonic sensor(s) 1262, untilemergency vehicles pass.

In at least one embodiment, vehicle 1200 may include CPU(s) 1218 (e.g.,discrete CPU(s), or dCPU(s)), that may be coupled to SoC(s) 1204 via ahigh-speed interconnect (e.g., PCIe). In at least one embodiment, CPU(s)1218 may include an X86 processor, for example. CPU(s) 1218 may be usedto perform any of a variety of functions, including arbitratingpotentially inconsistent results between ADAS sensors and SoC(s) 1204,and/or monitoring status and health of controller(s) 1236 and/or aninfotainment system on a chip (“infotainment SoC”) 1230, for example.

In at least one embodiment, vehicle 1200 may include GPU(s) 1220 (e.g.,discrete GPU(s), or dGPU(s)), that may be coupled to SoC(s) 1204 via ahigh-speed interconnect (e.g., NVIDIA's NVLINK channel). In at least oneembodiment, GPU(s) 1220 may provide additional artificial intelligencefunctionality, such as by executing redundant and/or different neuralnetworks, and may be used to train and/or update neural networks basedat least in part on input (e.g., sensor data) from sensors of a vehicle1200.

In at least one embodiment, vehicle 1200 may further include networkinterface 1224 which may include, without limitation, wirelessantenna(s) 1226 (e.g., one or more wireless antennas for differentcommunication protocols, such as a cellular antenna, a Bluetoothantenna, etc.). In at least one embodiment, network interface 1224 maybe used to enable wireless connectivity to Internet cloud services(e.g., with server(s) and/or other network devices), with othervehicles, and/or with computing devices (e.g., client devices ofpassengers). In at least one embodiment, to communicate with othervehicles, a direct link may be established between vehicle 120 andanother vehicle and/or an indirect link may be established (e.g., acrossnetworks and over the Internet). In at least one embodiment, directlinks may be provided using a vehicle-to-vehicle communication link. Inat least one embodiment, a vehicle-to-vehicle communication link mayprovide vehicle 1200 information about vehicles in proximity to vehicle1200 (e.g., vehicles in front of, on a side of, and/or behind vehicle1200). In at least one embodiment, such aforementioned functionality maybe part of a cooperative adaptive cruise control functionality ofvehicle 1200.

In at least one embodiment, network interface 1224 may include an SoCthat provides modulation and demodulation functionality and enablescontroller(s) 1236 to communicate over wireless networks. In at leastone embodiment, network interface 1224 may include a radio frequencyfront-end for up-conversion from baseband to radio frequency, and downconversion from radio frequency to baseband. In at least one embodiment,frequency conversions may be performed in any technically feasiblefashion. For example, frequency conversions could be performed throughwell-known processes, and/or using super-heterodyne processes. In atleast one embodiment, radio frequency front end functionality may beprovided by a separate chip. In at least one embodiment, networkinterfaces may include wireless functionality for communicating overLTE, WCDMA, UMTS, GSM, CDMA2000, Bluetooth, Bluetooth LE, Wi-Fi, Z-Wave,ZigBee, LoRaWAN, and/or other wireless protocols.

In at least one embodiment, vehicle 1200 may further include datastore(s) 1228 which may include, without limitation, off-chip (e.g., offSoC(s) 1204) storage. In at least one embodiment, data store(s) 1228 mayinclude, without limitation, one or more storage elements including RAM,SRAM, dynamic random-access memory (“DRAM”), video random-access memory(“VRAM”), flash memory, hard disks, and/or other components and/ordevices that may store at least one bit of data.

In at least one embodiment, vehicle 1200 may further include GNSSsensor(s) 1258 (e.g., GPS and/or assisted GPS sensors), to assist inmapping, perception, occupancy grid generation, and/or path planningfunctions. In at least one embodiment, any number of GNSS sensor(s) 1258may be used, including, for example and without limitation, a GPS usinga USB connector with an Ethernet-to-Serial (e.g., RS-232) bridge.

In at least one embodiment, vehicle 1200 may further include RADARsensor(s) 1260. In at least one embodiment, RADAR sensor(s) 1260 may beused by vehicle 1200 for long-range vehicle detection, even in darknessand/or severe weather conditions. In at least one embodiment, RADARfunctional safety levels may be ASIL B. In at least one embodiment,RADAR sensor(s) 1260 may use a CAN bus and/or bus 1202 (e.g., totransmit data generated by RADAR sensor(s) 1260) for control and toaccess object tracking data, with access to Ethernet channels to accessraw data in some examples. In at least one embodiment, a wide variety ofRADAR sensor types may be used. For example, and without limitation,RADAR sensor(s) 1260 may be suitable for front, rear, and side RADARuse. In at least one embodiment, one or more sensor of RADAR sensors(s)1260 is a Pulse Doppler RADAR sensor.

In at least one embodiment, RADAR sensor(s) 1260 may include differentconfigurations, such as long-range with narrow field of view,short-range with wide field of view, short-range side coverage, etc. Inat least one embodiment, long-range RADAR may be used for adaptivecruise control functionality. In at least one embodiment, long-rangeRADAR systems may provide a broad field of view realized by two or moreindependent scans, such as within a 250 m (meter) range. In at least oneembodiment, RADAR sensor(s) 1260 may help in distinguishing betweenstatic and moving objects, and may be used by ADAS system 1238 foremergency brake assist and forward collision warning. In at least oneembodiment, sensors 1260(s) included in a long-range RADAR system mayinclude, without limitation, monostatic multimodal RADAR with multiple(e.g., six or more) fixed RADAR antennae and a high-speed CAN andFlexRay interface. In at least one embodiment, with six antennae, acentral four antennae may create a focused beam pattern, designed torecord vehicle's 1200 surroundings at higher speeds with minimalinterference from traffic in adjacent lanes. In at least one embodiment,another two antennae may expand field of view, making it possible toquickly detect vehicles entering or leaving a lane of vehicle 1200.

In at least one embodiment, mid-range RADAR systems may include, as anexample, a range of up to 160 m (front) or 80 m (rear), and a field ofview of up to 42 degrees (front) or 150 degrees (rear). In at least oneembodiment, short-range RADAR systems may include, without limitation,any number of RADAR sensor(s) 1260 designed to be installed at both endsof a rear bumper. When installed at both ends of a rear bumper, in atleast one embodiment, a RADAR sensor system may create two beams thatconstantly monitor blind spots in a rear direction and next to avehicle. In at least one embodiment, short-range RADAR systems may beused in ADAS system 1238 for blind spot detection and/or lane changeassist.

In at least one embodiment, vehicle 1200 may further include ultrasonicsensor(s) 1262. In at least one embodiment, ultrasonic sensor(s) 1262,which may be positioned at a front, a back, and/or side location ofvehicle 1200, may be used for parking assist and/or to create and updatean occupancy grid. In at least one embodiment, a wide variety ofultrasonic sensor(s) 1262 may be used, and different ultrasonicsensor(s) 1262 may be used for different ranges of detection (e.g., 2.5m, 4 m). In at least one embodiment, ultrasonic sensor(s) 1262 mayoperate at functional safety levels of ASIL B.

In at least one embodiment, vehicle 1200 may include LIDAR sensor(s)1264. In at least one embodiment, LIDAR sensor(s) 1264 may be used forobject and pedestrian detection, emergency braking, collision avoidance,and/or other functions. In at least one embodiment, LIDAR sensor(s) 1264may operate at functional safety level ASIL B. In at least oneembodiment, vehicle 1200 may include multiple LIDAR sensors 1264 (e.g.,two, four, six, etc.) that may use an Ethernet channel (e.g., to providedata to a Gigabit Ethernet switch).

In at least one embodiment, LIDAR sensor(s) 1264 may be capable ofproviding a list of objects and their distances for a 360-degree fieldof view. In at least one embodiment, commercially available LIDARsensor(s) 1264 may have an advertised range of approximately 100 m, withan accuracy of 2 cm to 3 cm, and with support for a 100 Mbps Ethernetconnection, for example. In at least one embodiment, one or morenon-protruding LIDAR sensors may be used. In such an embodiment, LIDARsensor(s) 1264 may include a small device that may be embedded into afront, a rear, a side, and/or a corner location of vehicle 1200. In atleast one embodiment, LIDAR sensor(s) 1264, in such an embodiment, mayprovide up to a 120-degree horizontal and 35-degree verticalfield-of-view, with a 200 m range even for low-reflectivity objects. Inat least one embodiment, front-mounted LIDAR sensor(s) 1264 may beconfigured for a horizontal field of view between 45 degrees and 135degrees.

In at least one embodiment, LIDAR technologies, such as 3D flash LIDAR,may also be used. In at least one embodiment, 3D flash LIDAR uses aflash of a laser as a transmission source, to illuminate surroundings ofvehicle 1200 up to approximately 200 m. In at least one embodiment, aflash LIDAR unit includes, without limitation, a receptor, which recordslaser pulse transit time and reflected light on each pixel, which inturn corresponds to a range from vehicle 1200 to objects. In at leastone embodiment, flash LIDAR may allow for highly accurate anddistortion-free images of surroundings to be generated with every laserflash. In at least one embodiment, four flash LIDAR sensors may bedeployed, one at each side of vehicle 1200. In at least one embodiment,3D flash LIDAR systems include, without limitation, a solid-state 3Dstaring array LIDAR camera with no moving parts other than a fan (e.g.,a non-scanning LIDAR device). In at least one embodiment, flash LIDARdevice may use a 5 nanosecond class I (eye-safe) laser pulse per frameand may capture reflected laser light as a 3D range point cloud andco-registered intensity data.

In at least one embodiment, vehicle 1200 may further include IMUsensor(s) 1266. In at least one embodiment, IMU sensor(s) 1266 may belocated at a center of a rear axle of vehicle 1200. In at least oneembodiment, IMU sensor(s) 1266 may include, for example and withoutlimitation, accelerometer(s), magnetometer(s), gyroscope(s), a magneticcompass, magnetic compasses, and/or other sensor types. In at least oneembodiment, such as in six-axis applications, IMU sensor(s) 1266 mayinclude, without limitation, accelerometers and gyroscopes. In at leastone embodiment, such as in nine-axis applications, IMU sensor(s) 1266may include, without limitation, accelerometers, gyroscopes, andmagnetometers.

In at least one embodiment, IMU sensor(s) 1266 may be implemented as aminiature, high performance GPS-Aided Inertial Navigation System(“GPS/INS”) that combines micro-electro-mechanical systems (“MEMS”)inertial sensors, a high-sensitivity GPS receiver, and advanced Kalmanfiltering algorithms to provide estimates of position, velocity, andattitude. In at least one embodiment, IMU sensor(s) 1266 may enablevehicle 1200 to estimate its heading without requiring input from amagnetic sensor by directly observing and correlating changes invelocity from a GPS to IMU sensor(s) 1266. In at least one embodiment,IMU sensor(s) 1266 and GNSS sensor(s) 1258 may be combined in a singleintegrated unit.

In at least one embodiment, vehicle 1200 may include microphone(s) 1296placed in and/or around vehicle 1200. In at least one embodiment,microphone(s) 1296 may be used for emergency vehicle detection andidentification, among other things.

In at least one embodiment, vehicle 1200 may further include any numberof camera types, including stereo camera(s) 1268, wide-view camera(s)1270, infrared camera(s) 1272, surround camera(s) 1274, long-rangecamera(s) 1298, mid-range camera(s) 1276, and/or other camera types. Inat least one embodiment, cameras may be used to capture image dataaround an entire periphery of vehicle 1200. In at least one embodiment,which types of cameras used depends on vehicle 1200. In at least oneembodiment, any combination of camera types may be used to providenecessary coverage around vehicle 1200. In at least one embodiment, anumber of cameras deployed may differ depending on embodiment. Forexample, in at least one embodiment, vehicle 1200 could include sixcameras, seven cameras, ten cameras, twelve cameras, or another numberof cameras. In at least one embodiment, cameras may support, as anexample and without limitation, Gigabit Multimedia Serial Link (“GMSL”)and/or Gigabit Ethernet communications. In at least one embodiment, eachcamera might be as described with more detail previously herein withrespect to FIG. 12A and FIG. 12B.

In at least one embodiment, vehicle 1200 may further include vibrationsensor(s) 1242. In at least one embodiment, vibration sensor(s) 1242 maymeasure vibrations of components of vehicle 1200, such as axle(s). Forexample, in at least one embodiment, changes in vibrations may indicatea change in road surfaces. In at least one embodiment, when two or morevibration sensors 1242 are used, differences between vibrations may beused to determine friction or slippage of road surface (e.g., when adifference in vibration is between a power-driven axle and a freelyrotating axle).

In at least one embodiment, vehicle 1200 may include ADAS system 1238.In at least one embodiment, ADAS system 1238 may include, withoutlimitation, an SoC, in some examples. In at least one embodiment, ADASsystem 1238 may include, without limitation, any number and combinationof an autonomous/adaptive/automatic cruise control (“ACC”) system, acooperative adaptive cruise control (“CACC”) system, a forward crashwarning (“FCW”) system, an automatic emergency braking (“AEB”) system, alane departure warning (“LDW)” system, a lane keep assist (“LKA”)system, a blind spot warning (“BSW”) system, a rear cross-trafficwarning (“RCTW”) system, a collision warning (“CW”) system, a lanecentering (“LC”) system, and/or other systems, features, and/orfunctionality.

In at least one embodiment, ACC system may use RADAR sensor(s) 1260,LIDAR sensor(s) 1264, and/or any number of camera(s). In at least oneembodiment, ACC system may include a longitudinal ACC system and/or alateral ACC system. In at least one embodiment, a longitudinal ACCsystem monitors and controls distance to another vehicle immediatelyahead of vehicle 1200 and automatically adjusts speed of vehicle 1200 tomaintain a safe distance from vehicles ahead. In at least oneembodiment, a lateral ACC system performs distance keeping, and advisesvehicle 1200 to change lanes when necessary. In at least one embodiment,a lateral ACC is related to other ADAS applications, such as LC and CW.

In at least one embodiment, a CACC system uses information from othervehicles that may be received via network interface 1224 and/or wirelessantenna(s) 1226 from other vehicles via a wireless link, or indirectly,over a network connection (e.g., over the Internet). In at least oneembodiment, direct links may be provided by a vehicle-to-vehicle (“V2V”)communication link, while indirect links may be provided by aninfrastructure-to-vehicle (“I2V”) communication link. In general, V2Vcommunication provides information about immediately preceding vehicles(e.g., vehicles immediately ahead of and in same lane as vehicle 1200),while I2V communication provides information about traffic furtherahead. In at least one embodiment, a CACC system may include either orboth I2V and V2V information sources. In at least one embodiment, giveninformation of vehicles ahead of vehicle 1200, a CACC system may be morereliable and it has potential to improve traffic flow smoothness andreduce congestion on road.

In at least one embodiment, an FCW system is designed to alert a driverto a hazard, so that such driver may take corrective action. In at leastone embodiment, an FCW system uses a front-facing camera and/or RADARsensor(s) 1260, coupled to a dedicated processor, DSP, FPGA, and/orASIC, that is electrically coupled to provide driver feedback, such as adisplay, speaker, and/or vibrating component. In at least oneembodiment, an FCW system may provide a warning, such as in form of asound, visual warning, vibration and/or a quick brake pulse.

In at least one embodiment, an AEB system detects an impending forwardcollision with another vehicle or other object, and may automaticallyapply brakes if a driver does not take corrective action within aspecified time or distance parameter. In at least one embodiment, AEBsystem may use front-facing camera(s) and/or RADAR sensor(s) 1260,coupled to a dedicated processor, DSP, FPGA, and/or ASIC. In at leastone embodiment, when an AEB system detects a hazard, it will typicallyfirst alert a driver to take corrective action to avoid collision and,if that driver does not take corrective action, that AEB system mayautomatically apply brakes in an effort to prevent, or at leastmitigate, an impact of a predicted collision. In at least oneembodiment, an AEB system may include techniques such as dynamic brakesupport and/or crash imminent braking.

In at least one embodiment, an LDW system provides visual, audible,and/or tactile warnings, such as steering wheel or seat vibrations, toalert driver when vehicle 1200 crosses lane markings. In at least oneembodiment, an LDW system does not activate when a driver indicates anintentional lane departure, such as by activating a turn signal. In atleast one embodiment, an LDW system may use front-side facing cameras,coupled to a dedicated processor, DSP, FPGA, and/or ASIC, that iselectrically coupled to provide driver feedback, such as a display,speaker, and/or vibrating component. In at least one embodiment, an LKAsystem is a variation of an LDW system. In at least one embodiment, anLKA system provides steering input or braking to correct vehicle 1200 ifvehicle 1200 starts to exit its lane.

In at least one embodiment, a BSW system detects and warns a driver ofvehicles in an automobile's blind spot. In at least one embodiment, aBSW system may provide a visual, audible, and/or tactile alert toindicate that merging or changing lanes is unsafe. In at least oneembodiment, a BSW system may provide an additional warning when a driveruses a turn signal. In at least one embodiment, a BSW system may userear-side facing camera(s) and/or RADAR sensor(s) 1260, coupled to adedicated processor, DSP, FPGA, and/or ASIC, that is electricallycoupled to driver feedback, such as a display, speaker, and/or vibratingcomponent.

In at least one embodiment, an RCTW system may provide visual, audible,and/or tactile notification when an object is detected outside arear-camera range when vehicle 1200 is backing up. In at least oneembodiment, an RCTW system includes an AEB system to ensure that vehiclebrakes are applied to avoid a crash. In at least one embodiment, an RCTWsystem may use one or more rear-facing RADAR sensor(s) 1260, coupled toa dedicated processor, DSP, FPGA, and/or ASIC, that is electricallycoupled to provide driver feedback, such as a display, speaker, and/orvibrating component.

In at least one embodiment, conventional ADAS systems may be prone tofalse positive results which may be annoying and distracting to adriver, but typically are not catastrophic, because conventional ADASsystems alert a driver and allow that driver to decide whether a safetycondition truly exists and act accordingly. In at least one embodiment,vehicle 1200 itself decides, in case of conflicting results, whether toheed result from a primary computer or a secondary computer (e.g., afirst controller or a second controller of controllers 1236). Forexample, in at least one embodiment, ADAS system 1238 may be a backupand/or secondary computer for providing perception information to abackup computer rationality module. In at least one embodiment, a backupcomputer rationality monitor may run redundant diverse software onhardware components to detect faults in perception and dynamic drivingtasks. In at least one embodiment, outputs from ADAS system 1238 may beprovided to a supervisory MCU. In at least one embodiment, if outputsfrom a primary computer and outputs from a secondary computer conflict,a supervisory MCU determines how to reconcile conflict to ensure safeoperation.

In at least one embodiment, a primary computer may be configured toprovide a supervisory MCU with a confidence score, indicating thatprimary computer's confidence in a chosen result. In at least oneembodiment, if that confidence score exceeds a threshold, thatsupervisory MCU may follow that primary computer's direction, regardlessof whether that secondary computer provides a conflicting orinconsistent result. In at least one embodiment, where a confidencescore does not meet a threshold, and where primary and secondarycomputers indicate different results (e.g., a conflict), a supervisoryMCU may arbitrate between computers to determine an appropriate outcome.

In at least one embodiment, a supervisory MCU may be configured to run aneural network(s) that is trained and configured to determine, based atleast in part on outputs from a primary computer and outputs from asecondary computer, conditions under which that secondary computerprovides false alarms. In at least one embodiment, neural network(s) ina supervisory MCU may learn when a secondary computer's output may betrusted, and when it cannot. For example, in at least one embodiment,when that secondary computer is a RADAR-based FCW system, a neuralnetwork(s) in that supervisory MCU may learn when an FCW system isidentifying metallic objects that are not, in fact, hazards, such as adrainage grate or manhole cover that triggers an alarm. In at least oneembodiment, when a secondary computer is a camera-based LDW system, aneural network in a supervisory MCU may learn to override LDW whenbicyclists or pedestrians are present and a lane departure is, in fact,a safest maneuver. In at least one embodiment, a supervisory MCU mayinclude at least one of a DLA or a GPU suitable for running neuralnetwork(s) with associated memory. In at least one embodiment, asupervisory MCU may comprise and/or be included as a component of SoC(s)1204.

In at least one embodiment, ADAS system 1238 may include a secondarycomputer that performs ADAS functionality using traditional rules ofcomputer vision. In at least one embodiment, that secondary computer mayuse classic computer vision rules (if-then), and presence of a neuralnetwork(s) in a supervisory MCU may improve reliability, safety andperformance. For example, in at least one embodiment, diverseimplementation and intentional non-identity makes an overall system morefault-tolerant, especially to faults caused by software (orsoftware-hardware interface) functionality. For example, in at least oneembodiment, if there is a software bug or error in software running on aprimary computer, and non-identical software code running on a secondarycomputer provides a consistent overall result, then a supervisory MCUmay have greater confidence that an overall result is correct, and a bugin software or hardware on that primary computer is not causing amaterial error.

In at least one embodiment, an output of ADAS system 1238 may be fedinto a primary computer's perception block and/or a primary computer'sdynamic driving task block. For example, in at least one embodiment, ifADAS system 1238 indicates a forward crash warning due to an objectimmediately ahead, a perception block may use this information whenidentifying objects. In at least one embodiment, a secondary computermay have its own neural network that is trained and thus reduces a riskof false positives, as described herein.

In at least one embodiment, vehicle 1200 may further includeinfotainment SoC 1230 (e.g., an in-vehicle infotainment system (IVI)).Although illustrated and described as an SoC, infotainment system SoC1230, in at least one embodiment, may not be an SoC, and may include,without limitation, two or more discrete components. In at least oneembodiment, infotainment SoC 1230 may include, without limitation, acombination of hardware and software that may be used to provide audio(e.g., music, a personal digital assistant, navigational instructions,news, radio, etc.), video (e.g., TV, movies, streaming, etc.), phone(e.g., hands-free calling), network connectivity (e.g., LTE, WiFi,etc.), and/or information services (e.g., navigation systems,rear-parking assistance, a radio data system, vehicle relatedinformation such as fuel level, total distance covered, brake fuellevel, oil level, door open/close, air filter information, etc.) tovehicle 1200. For example, infotainment SoC 1230 could include radios,disk players, navigation systems, video players, USB and Bluetoothconnectivity, carputers, in-car entertainment, WiFi, steering wheelaudio controls, hands free voice control, a heads-up display (“HUD”),HMI display 1234, a telematics device, a control panel (e.g., forcontrolling and/or interacting with various components, features, and/orsystems), and/or other components. In at least one embodiment,infotainment SoC 1230 may further be used to provide information (e.g.,visual and/or audible) to user(s) of vehicle 1200, such as informationfrom ADAS system 1238, autonomous driving information such as plannedvehicle maneuvers, trajectories, surrounding environment information(e.g., intersection information, vehicle information, road information,etc.), and/or other information.

In at least one embodiment, infotainment SoC 1230 may include any amountand type of GPU functionality. In at least one embodiment, infotainmentSoC 1230 may communicate over bus 1202 with other devices, systems,and/or components of vehicle 1200. In at least one embodiment,infotainment SoC 1230 may be coupled to a supervisory MCU such that aGPU of an infotainment system may perform some self-driving functions inevent that primary controller(s) 1236 (e.g., primary and/or backupcomputers of vehicle 1200) fail. In at least one embodiment,infotainment SoC 1230 may put vehicle 1200 into a chauffeur to safe stopmode, as described herein.

In at least one embodiment, vehicle 1200 may further include instrumentcluster 1232 (e.g., a digital dash, an electronic instrument cluster, adigital instrument panel, etc.). In at least one embodiment, instrumentcluster 1232 may include, without limitation, a controller and/orsupercomputer (e.g., a discrete controller or supercomputer). In atleast one embodiment, instrument cluster 1232 may include, withoutlimitation, any number and combination of a set of instrumentation suchas a speedometer, fuel level, oil pressure, tachometer, odometer, turnindicators, gearshift position indicator, seat belt warning light(s),parking-brake warning light(s), engine-malfunction light(s),supplemental restraint system (e.g., airbag) information, lightingcontrols, safety system controls, navigation information, etc. In someexamples, information may be displayed and/or shared among infotainmentSoC 1230 and instrument cluster 1232. In at least one embodiment,instrument cluster 1232 may be included as part of infotainment SoC1230, or vice versa.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 12C for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 12D is a diagram of a system 1276 for communication betweencloud-based server(s) and autonomous vehicle 1200 of FIG. 12A, accordingto at least one embodiment. In at least one embodiment, system 1276 mayinclude, without limitation, server(s) 1278, network(s) 1290, and anynumber and type of vehicles, including vehicle 1200. In at least oneembodiment, server(s) 1278 may include, without limitation, a pluralityof GPUs 1284(A)-1284(H) (collectively referred to herein as GPUs 1284),PCIe switches 1282(A)-1282(D) (collectively referred to herein as PCIeswitches 1282), and/or CPUs 1280(A)-1280(B) (collectively referred toherein as CPUs 1280). In at least one embodiment, GPUs 1284, CPUs 1280,and PCIe switches 1282 may be interconnected with high-speedinterconnects such as, for example and without limitation, NVLinkinterfaces 1288 developed by NVIDIA and/or PCIe connections 1286. In atleast one embodiment, GPUs 1284 are connected via an NVLink and/orNVSwitch SoC and GPUs 1284 and PCIe switches 1282 are connected via PCIeinterconnects. Although eight GPUs 1284, two CPUs 1280, and four PCIeswitches 1282 are illustrated, this is not intended to be limiting. Inat least one embodiment, each of server(s) 1278 may include, withoutlimitation, any number of GPUs 1284, CPUs 1280, and/or PCIe switches1282, in any combination. For example, in at least one embodiment,server(s) 1278 could each include eight, sixteen, thirty-two, and/ormore GPUs 1284.

In at least one embodiment, server(s) 1278 may receive, over network(s)1290 and from vehicles, image data representative of images showingunexpected or changed road conditions, such as recently commencedroad-work. In at least one embodiment, server(s) 1278 may transmit, overnetwork(s) 1290 and to vehicles, neural networks 1292, updated orotherwise, and/or map information 1294, including, without limitation,information regarding traffic and road conditions. In at least oneembodiment, updates to map information 1294 may include, withoutlimitation, updates for HD map 1222, such as information regardingconstruction sites, potholes, detours, flooding, and/or otherobstructions. In at least one embodiment, neural networks 1292, and/ormap information 1294 may have resulted from new training and/orexperiences represented in data received from any number of vehicles inan environment, and/or based at least in part on training performed at adata center (e.g., using server(s) 1278 and/or other servers).

In at least one embodiment, server(s) 1278 may be used to train machinelearning models (e.g., neural networks) based at least in part ontraining data. In at least one embodiment, training data may begenerated by vehicles, and/or may be generated in a simulation (e.g.,using a game engine). In at least one embodiment, any amount of trainingdata is tagged (e.g., where associated neural network benefits fromsupervised learning) and/or undergoes other pre-processing. In at leastone embodiment, any amount of training data is not tagged and/orpre-processed (e.g., where associated neural network does not requiresupervised learning). In at least one embodiment, once machine learningmodels are trained, machine learning models may be used by vehicles(e.g., transmitted to vehicles over network(s) 1290), and/or machinelearning models may be used by server(s) 1278 to remotely monitorvehicles.

In at least one embodiment, server(s) 1278 may receive data fromvehicles and apply data to up-to-date real-time neural networks forreal-time intelligent inferencing. In at least one embodiment, server(s)1278 may include deep-learning supercomputers and/or dedicated AIcomputers powered by GPU(s) 1284, such as a DGX and DGX Station machinesdeveloped by NVIDIA. However, in at least one embodiment, server(s) 1278may include deep learning infrastructure that uses CPU-powered datacenters.

In at least one embodiment, deep-learning infrastructure of server(s)1278 may be capable of fast, real-time inferencing, and may use thatcapability to evaluate and verify health of processors, software, and/orassociated hardware in vehicle 1200. For example, in at least oneembodiment, deep-learning infrastructure may receive periodic updatesfrom vehicle 1200, such as a sequence of images and/or objects thatvehicle 1200 has located in that sequence of images (e.g., via computervision and/or other machine learning object classification techniques).In at least one embodiment, deep-learning infrastructure may run its ownneural network to identify objects and compare them with objectsidentified by vehicle 1200 and, if results do not match anddeep-learning infrastructure concludes that AI in vehicle 1200 ismalfunctioning, then server(s) 1278 may transmit a signal to vehicle1200 instructing a fail-safe computer of vehicle 1200 to assume control,notify passengers, and complete a safe parking maneuver.

In at least one embodiment, server(s) 1278 may include GPU(s) 1284 andone or more programmable inference accelerators (e.g., NVIDIA's TensorRT3 devices). In at least one embodiment, a combination of GPU-poweredservers and inference acceleration may make real-time responsivenesspossible. In at least one embodiment, such as where performance is lesscritical, servers powered by CPUs, FPGAs, and other processors may beused for inferencing. In at least one embodiment, hardware structure(s)915 are used to perform one or more embodiments. Details regardinghardware structure(x) 915 are provided herein in conjunction with FIGS.9A and/or 9B.

Computer Systems

FIG. 13 is a block diagram illustrating an exemplary computer system,which may be a system with interconnected devices and components, asystem-on-a-chip (SOC) or some combination thereof formed with aprocessor that may include execution units to execute an instruction,according to at least one embodiment. In at least one embodiment, acomputer system 1300 may include, without limitation, a component, suchas a processor 1302 to employ execution units including logic to performalgorithms for process data, in accordance with present disclosure, suchas in embodiment described herein. In at least one embodiment, computersystem 1300 may include processors, such as PENTIUM® Processor family,Xeon™ Itanium®, XScale™ and/or StrongARM™, Intel® Core™, or Intel®Nervana™ microprocessors available from Intel Corporation of SantaClara, Calif., although other systems (including PCs having othermicroprocessors, engineering workstations, set-top boxes and like) mayalso be used. In at least one embodiment, computer system 1300 mayexecute a version of WINDOWS operating system available from MicrosoftCorporation of Redmond, Wash., although other operating systems (UNIXand Linux, for example), embedded software, and/or graphical userinterfaces, may also be used.

Embodiments may be used in other devices such as handheld devices andembedded applications. Some examples of handheld devices includecellular phones, Internet Protocol devices, digital cameras, personaldigital assistants (“PDAs”), and handheld PCs. In at least oneembodiment, embedded applications may include a microcontroller, adigital signal processor (“DSP”), system on a chip, network computers(“NetPCs”), set-top boxes, network hubs, wide area network (“WAN”)switches, or any other system that may perform one or more instructionsin accordance with at least one embodiment.

In at least one embodiment, computer system 1300 may include, withoutlimitation, processor 1302 that may include, without limitation, one ormore execution units 1308 to perform machine learning model trainingand/or inferencing according to techniques described herein. In at leastone embodiment, computer system 1300 is a single processor desktop orserver system, but in another embodiment, computer system 1300 may be amultiprocessor system. In at least one embodiment, processor 1302 mayinclude, without limitation, a complex instruction set computer (“CISC”)microprocessor, a reduced instruction set computing (“RISC”)microprocessor, a very long instruction word (“VLIW”) microprocessor, aprocessor implementing a combination of instruction sets, or any otherprocessor device, such as a digital signal processor, for example. In atleast one embodiment, processor 1302 may be coupled to a processor bus1310 that may transmit data signals between processor 1302 and othercomponents in computer system 1300.

In at least one embodiment, processor 1302 may include, withoutlimitation, a Level 1 (“L1”) internal cache memory (“cache”) 1304. In atleast one embodiment, processor 1302 may have a single internal cache ormultiple levels of internal cache. In at least one embodiment, cachememory may reside external to processor 1302. Other embodiments may alsoinclude a combination of both internal and external caches depending onparticular implementation and needs. In at least one embodiment, aregister file 1306 may store different types of data in variousregisters including, without limitation, integer registers, floatingpoint registers, status registers, and an instruction pointer register.

In at least one embodiment, execution unit 1308, including, withoutlimitation, logic to perform integer and floating point operations, alsoresides in processor 1302. In at least one embodiment, processor 1302may also include a microcode (“ucode”) read only memory (“ROM”) thatstores microcode for certain macro instructions. In at least oneembodiment, execution unit 1308 may include logic to handle a packedinstruction set 1309. In at least one embodiment, by including packedinstruction set 1309 in an instruction set of a general-purposeprocessor, along with associated circuitry to execute instructions,operations used by many multimedia applications may be performed usingpacked data in processor 1302. In at least one embodiment, manymultimedia applications may be accelerated and executed more efficientlyby using a full width of a processor's data bus for performingoperations on packed data, which may eliminate a need to transfersmaller units of data across that processor's data bus to perform one ormore operations one data element at a time.

In at least one embodiment, execution unit 1308 may also be used inmicrocontrollers, embedded processors, graphics devices, DSPs, and othertypes of logic circuits. In at least one embodiment, computer system1300 may include, without limitation, a memory 1320. In at least oneembodiment, memory 1320 may be a Dynamic Random Access Memory (“DRAM”)device, a Static Random Access Memory (“SRAM”) device, a flash memorydevice, or another memory device. In at least one embodiment, memory1320 may store instruction(s) 1319 and/or data 1321 represented by datasignals that may be executed by processor 1302.

In at least one embodiment, a system logic chip may be coupled toprocessor bus 1310 and memory 1320. In at least one embodiment, a systemlogic chip may include, without limitation, a memory controller hub(“MCH”) 1316, and processor 1302 may communicate with MCH 1316 viaprocessor bus 1310. In at least one embodiment, MCH 1316 may provide ahigh bandwidth memory path 1318 to memory 1320 for instruction and datastorage and for storage of graphics commands, data and textures. In atleast one embodiment, MCH 1316 may direct data signals between processor1302, memory 1320, and other components in computer system 1300 and tobridge data signals between processor bus 1310, memory 1320, and asystem I/O interface 1322. In at least one embodiment, a system logicchip may provide a graphics port for coupling to a graphics controller.In at least one embodiment, MCH 1316 may be coupled to memory 1320through high bandwidth memory path 1318 and a graphics/video card 1312may be coupled to MCH 1316 through an Accelerated Graphics Port (“AGP”)interconnect 1314.

In at least one embodiment, computer system 1300 may use system I/Ointerface 1322 as a proprietary hub interface bus to couple MCH 1316 toan I/O controller hub (“ICH”) 1330. In at least one embodiment, ICH 1330may provide direct connections to some I/O devices via a local I/O bus.In at least one embodiment, a local I/O bus may include, withoutlimitation, a high-speed I/O bus for connecting peripherals to memory1320, a chipset, and processor 1302. Examples may include, withoutlimitation, an audio controller 1329, a firmware hub (“flash BIOS”)1328, a wireless transceiver 1326, a data storage 1324, a legacy I/Ocontroller 1323 containing user input and keyboard interfaces 1325, aserial expansion port 1327, such as a Universal Serial Bus (“USB”) port,and a network controller 1334. In at least one embodiment, data storage1324 may comprise a hard disk drive, a floppy disk drive, a CD-ROMdevice, a flash memory device, or other mass storage device.

In at least one embodiment, FIG. 13 illustrates a system, which includesinterconnected hardware devices or “chips”, whereas in otherembodiments, FIG. 13 may illustrate an exemplary SoC. In at least oneembodiment, devices illustrated in FIG. 13 may be interconnected withproprietary interconnects, standardized interconnects (e.g., PCIe) orsome combination thereof. In at least one embodiment, one or morecomponents of computer system 1300 are interconnected using computeexpress link (CXL) interconnects.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 13 for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 14 is a block diagram illustrating an electronic device 1400 forutilizing a processor 1410, according to at least one embodiment. In atleast one embodiment, electronic device 1400 may be, for example andwithout limitation, a notebook, a tower server, a rack server, a bladeserver, a laptop, a desktop, a tablet, a mobile device, a phone, anembedded computer, or any other suitable electronic device.

In at least one embodiment, electronic device 1400 may include, withoutlimitation, processor 1410 communicatively coupled to any suitablenumber or kind of components, peripherals, modules, or devices. In atleast one embodiment, processor 1410 is coupled using a bus orinterface, such as a I²C bus, a System Management Bus (“SMBus”), a LowPin Count (LPC) bus, a Serial Peripheral Interface (“SPI”), a HighDefinition Audio (“HDA”) bus, a Serial Advance Technology Attachment(“SATA”) bus, a Universal Serial Bus (“USB”) (versions 1, 2, 3, etc.),or a Universal Asynchronous Receiver/Transmitter (“UART”) bus. In atleast one embodiment, FIG. 14 illustrates a system, which includesinterconnected hardware devices or “chips”, whereas in otherembodiments, FIG. 14 may illustrate an exemplary SoC. In at least oneembodiment, devices illustrated in FIG. 14 may be interconnected withproprietary interconnects, standardized interconnects (e.g., PCIe) orsome combination thereof. In at least one embodiment, one or morecomponents of FIG. 14 are interconnected using compute express link(CXL) interconnects.

In at least one embodiment, FIG. 14 may include a display 1424, a touchscreen 1425, a touch pad 1430, a Near Field Communications unit (“NFC”)1445, a sensor hub 1440, a thermal sensor 1446, an Express Chipset(“EC”) 1435, a Trusted Platform Module (“TPM”) 1438, BIOS/firmware/flashmemory (“BIOS, FW Flash”) 1422, a DSP 1460, a drive 1420 such as a SolidState Disk (“SSD”) or a Hard Disk Drive (“HDD”), a wireless local areanetwork unit (“WLAN”) 1450, a Bluetooth unit 1452, a Wireless Wide AreaNetwork unit (“WWAN”) 1456, a Global Positioning System (GPS) unit 1455,a camera (“USB 3.0 camera”) 1454 such as a USB 3.0 camera, and/or a LowPower Double Data Rate (“LPDDR”) memory unit (“LPDDR3”) 1415 implementedin, for example, an LPDDR3 standard. These components may each beimplemented in any suitable manner.

In at least one embodiment, other components may be communicativelycoupled to processor 1410 through components described herein. In atleast one embodiment, an accelerometer 1441, an ambient light sensor(“ALS”) 1442, a compass 1443, and a gyroscope 1444 may becommunicatively coupled to sensor hub 1440. In at least one embodiment,a thermal sensor 1439, a fan 1437, a keyboard 1436, and touch pad 1430may be communicatively coupled to EC 1435. In at least one embodiment,speakers 1463, headphones 1464, and a microphone (“mic”) 1465 may becommunicatively coupled to an audio unit (“audio codec and class D amp”)1462, which may in turn be communicatively coupled to DSP 1460. In atleast one embodiment, audio unit 1462 may include, for example andwithout limitation, an audio coder/decoder (“codec”) and a class Damplifier. In at least one embodiment, a SIM card (“SIM”) 1457 may becommunicatively coupled to WWAN unit 1456. In at least one embodiment,components such as WLAN unit 1450 and Bluetooth unit 1452, as well asWWAN unit 1456 may be implemented in a Next Generation Form Factor(“NGFF”).

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 14 for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 15 illustrates a computer system 1500, according to at least oneembodiment. In at least one embodiment, computer system 1500 isconfigured to implement various processes and methods describedthroughout this disclosure.

In at least one embodiment, computer system 1500 comprises, withoutlimitation, at least one central processing unit (“CPU”) 1502 that isconnected to a communication bus 1510 implemented using any suitableprotocol, such as PCI (“Peripheral Component Interconnect”), peripheralcomponent interconnect express (“PCI-Express”), AGP (“AcceleratedGraphics Port”), HyperTransport, or any other bus or point-to-pointcommunication protocol(s). In at least one embodiment, computer system1500 includes, without limitation, a main memory 1504 and control logic(e.g., implemented as hardware, software, or a combination thereof) anddata are stored in main memory 1504, which may take form of randomaccess memory (“RAM”). In at least one embodiment, a network interfacesubsystem (“network interface”) 1522 provides an interface to othercomputing devices and networks for receiving data from and transmittingdata to other systems with computer system 1500.

In at least one embodiment, computer system 1500, in at least oneembodiment, includes, without limitation, input devices 1508, a parallelprocessing system 1512, and display devices 1506 that can be implementedusing a conventional cathode ray tube (“CRT”), a liquid crystal display(“LCD”), a light emitting diode (“LED”) display, a plasma display, orother suitable display technologies. In at least one embodiment, userinput is received from input devices 1508 such as keyboard, mouse,touchpad, microphone, etc. In at least one embodiment, each moduledescribed herein can be situated on a single semiconductor platform toform a processing system.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 15 for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 16 illustrates a computer system 1600, according to at least oneembodiment. In at least one embodiment, computer system 1600 includes,without limitation, a computer 1610 and a USB stick 1620. In at leastone embodiment, computer 1610 may include, without limitation, anynumber and type of processor(s) (not shown) and a memory (not shown). Inat least one embodiment, computer 1610 includes, without limitation, aserver, a cloud instance, a laptop, and a desktop computer.

In at least one embodiment, USB stick 1620 includes, without limitation,a processing unit 1630, a USB interface 1640, and USB interface logic1650. In at least one embodiment, processing unit 1630 may be anyinstruction execution system, apparatus, or device capable of executinginstructions. In at least one embodiment, processing unit 1630 mayinclude, without limitation, any number and type of processing cores(not shown). In at least one embodiment, processing unit 1630 comprisesan application specific integrated circuit (“ASIC”) that is optimized toperform any amount and type of operations associated with machinelearning. For instance, in at least one embodiment, processing unit 1630is a tensor processing unit (“TPC”) that is optimized to perform machinelearning inference operations. In at least one embodiment, processingunit 1630 is a vision processing unit (“VPU”) that is optimized toperform machine vision and machine learning inference operations.

In at least one embodiment, USB interface 1640 may be any type of USBconnector or USB socket. For instance, in at least one embodiment, USBinterface 1640 is a USB 3.0 Type-C socket for data and power. In atleast one embodiment, USB interface 1640 is a USB 3.0 Type-A connector.In at least one embodiment, USB interface logic 1650 may include anyamount and type of logic that enables processing unit 1630 to interfacewith devices (e.g., computer 1610) via USB connector 1640.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 16 for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 17A illustrates an exemplary architecture in which a plurality ofGPUs 1710(1)-1710(N) is communicatively coupled to a plurality ofmulti-core processors 1705(1)-1705(M) over high-speed links1740(1)-1740(N) (e.g., buses, point-to-point interconnects, etc.). In atleast one embodiment, high-speed links 1740(1)-1740(N) support acommunication throughput of 4 GB/s, 30 GB/s, 80 GB/s or higher. In atleast one embodiment, various interconnect protocols may be usedincluding, but not limited to, PCIe 4.0 or 5.0 and NVLink 2.0. Invarious figures, “N” and “M” represent positive integers, values ofwhich may be different from figure to figure.

In addition, and in at least one embodiment, two or more of GPUs 1710are interconnected over high-speed links 1729(1)-1729(2), which may beimplemented using similar or different protocols/links than those usedfor high-speed links 1740(1)-1740(N). Similarly, two or more ofmulti-core processors 1705 may be connected over a high-speed link 1728which may be symmetric multi-processor (SMP) buses operating at 20 GB/s,30 GB/s, 120 GB/s or higher. Alternatively, all communication betweenvarious system components shown in FIG. 17A may be accomplished usingsimilar protocols/links (e.g., over a common interconnection fabric).

In at least one embodiment, each multi-core processor 1705 iscommunicatively coupled to a processor memory 1701(1)-1701(M), viamemory interconnects 1726(1)-1726(M), respectively, and each GPU1710(1)-1710(N) is communicatively coupled to GPU memory 1720(1)-1720(N)over GPU memory interconnects 1750(1)-1750(N), respectively. In at leastone embodiment, memory interconnects 1726 and 1750 may utilize similaror different memory access technologies. By way of example, and notlimitation, processor memories 1701(1)-1701(M) and GPU memories 1720 maybe volatile memories such as dynamic random access memories (DRAMs)(including stacked DRAMs), Graphics DDR SDRAM (GDDR) (e.g., GDDR5,GDDR6), or High Bandwidth Memory (HBM) and/or may be non-volatilememories such as 3D XPoint or Nano-Ram. In at least one embodiment, someportion of processor memories 1701 may be volatile memory and anotherportion may be non-volatile memory (e.g., using a two-level memory (2LM)hierarchy).

As described herein, although various multi-core processors 1705 andGPUs 1710 may be physically coupled to a particular memory 1701, 1720,respectively, and/or a unified memory architecture may be implemented inwhich a virtual system address space (also referred to as “effectiveaddress” space) is distributed among various physical memories. Forexample, processor memories 1701(1)-1701(M) may each comprise 64 GB ofsystem memory address space and GPU memories 1720(1)-1720(N) may eachcomprise 32 GB of system memory address space resulting in a total of256 GB addressable memory when M=2 and N=4. Other values for N and M arepossible.

FIG. 17B illustrates additional details for an interconnection between amulti-core processor 1707 and a graphics acceleration module 1746 inaccordance with one exemplary embodiment. In at least one embodiment,graphics acceleration module 1746 may include one or more GPU chipsintegrated on a line card which is coupled to processor 1707 viahigh-speed link 1740 (e.g., a PCIe bus, NVLink, etc.). In at least oneembodiment, graphics acceleration module 1746 may alternatively beintegrated on a package or chip with processor 1707.

In at least one embodiment, processor 1707 includes a plurality of cores1760A-1760D, each with a translation lookaside buffer (“TLB”)1761A-1761D and one or more caches 1762A-1762D. In at least oneembodiment, cores 1760A-1760D may include various other components forexecuting instructions and processing data that are not illustrated. Inat least one embodiment, caches 1762A-1762D may comprise Level 1 (L1)and Level 2 (L2) caches. In addition, one or more shared caches 1756 maybe included in caches 1762A-1762D and shared by sets of cores1760A-1760D. For example, one embodiment of processor 1707 includes 24cores, each with its own L1 cache, twelve shared L2 caches, and twelveshared L3 caches. In this embodiment, one or more L2 and L3 caches areshared by two adjacent cores. In at least one embodiment, processor 1707and graphics acceleration module 1746 connect with system memory 1714,which may include processor memories 1701(1)-1701(M) of FIG. 17A.

In at least one embodiment, coherency is maintained for data andinstructions stored in various caches 1762A-1762D, 1756 and systemmemory 1714 via inter-core communication over a coherence bus 1764. Inat least one embodiment, for example, each cache may have cachecoherency logic/circuitry associated therewith to communicate to overcoherence bus 1764 in response to detected reads or writes to particularcache lines. In at least one embodiment, a cache snooping protocol isimplemented over coherence bus 1764 to snoop cache accesses.

In at least one embodiment, a proxy circuit 1725 communicatively couplesgraphics acceleration module 1746 to coherence bus 1764, allowinggraphics acceleration module 1746 to participate in a cache coherenceprotocol as a peer of cores 1760A-1760D. In particular, in at least oneembodiment, an interface 1735 provides connectivity to proxy circuit1725 over high-speed link 1740 and an interface 1737 connects graphicsacceleration module 1746 to high-speed link 1740.

In at least one embodiment, an accelerator integration circuit 1736provides cache management, memory access, context management, andinterrupt management services on behalf of a plurality of graphicsprocessing engines 1731(1)-1731(N) of graphics acceleration module 1746.In at least one embodiment, graphics processing engines 1731(1)-1731(N)may each comprise a separate graphics processing unit (GPU). In at leastone embodiment, graphics processing engines 1731(1)-1731(N)alternatively may comprise different types of graphics processingengines within a GPU, such as graphics execution units, media processingengines (e.g., video encoders/decoders), samplers, and blit engines. Inat least one embodiment, graphics acceleration module 1746 may be a GPUwith a plurality of graphics processing engines 1731(1)-1731(N) orgraphics processing engines 1731(1)-1731(N) may be individual GPUsintegrated on a common package, line card, or chip.

In at least one embodiment, accelerator integration circuit 1736includes a memory management unit (MMU) 1739 for performing variousmemory management functions such as virtual-to-physical memorytranslations (also referred to as effective-to-real memory translations)and memory access protocols for accessing system memory 1714. In atleast one embodiment, MMU 1739 may also include a translation lookasidebuffer (TLB) (not shown) for caching virtual/effective to physical/realaddress translations. In at least one embodiment, a cache 1738 can storecommands and data for efficient access by graphics processing engines1731(1)-1731(N). In at least one embodiment, data stored in cache 1738and graphics memories 1733(1)-1733(M) is kept coherent with core caches1762A-1762D, 1756 and system memory 1714, possibly using a fetch unit1744. As mentioned, this may be accomplished via proxy circuit 1725 onbehalf of cache 1738 and memories 1733(1)-1733(M) (e.g., sending updatesto cache 1738 related to modifications/accesses of cache lines onprocessor caches 1762A-1762D, 1756 and receiving updates from cache1738).

In at least one embodiment, a set of registers 1745 store context datafor threads executed by graphics processing engines 1731(1)-1731(N) anda context management circuit 1748 manages thread contexts. For example,context management circuit 1748 may perform save and restore operationsto save and restore contexts of various threads during contexts switches(e.g., where a first thread is saved and a second thread is stored sothat a second thread can be execute by a graphics processing engine).For example, on a context switch, context management circuit 1748 maystore current register values to a designated region in memory (e.g.,identified by a context pointer). It may then restore register valueswhen returning to a context. In at least one embodiment, an interruptmanagement circuit 1747 receives and processes interrupts received fromsystem devices.

In at least one embodiment, virtual/effective addresses from a graphicsprocessing engine 1731 are translated to real/physical addresses insystem memory 1714 by MMU 1739. In at least one embodiment, acceleratorintegration circuit 1736 supports multiple (e.g., 4, 8, 16) graphicsaccelerator modules 1746 and/or other accelerator devices. In at leastone embodiment, graphics accelerator module 1746 may be dedicated to asingle application executed on processor 1707 or may be shared betweenmultiple applications. In at least one embodiment, a virtualizedgraphics execution environment is presented in which resources ofgraphics processing engines 1731(1)-1731(N) are shared with multipleapplications or virtual machines (VMs). In at least one embodiment,resources may be subdivided into “slices” which are allocated todifferent VMs and/or applications based on processing requirements andpriorities associated with VMs and/or applications.

In at least one embodiment, accelerator integration circuit 1736performs as a bridge to a system for graphics acceleration module 1746and provides address translation and system memory cache services. Inaddition, in at least one embodiment, accelerator integration circuit1736 may provide virtualization facilities for a host processor tomanage virtualization of graphics processing engines 1731(1)-1731(N),interrupts, and memory management.

In at least one embodiment, because hardware resources of graphicsprocessing engines 1731(1)-1731(N) are mapped explicitly to a realaddress space seen by host processor 1707, any host processor canaddress these resources directly using an effective address value. In atleast one embodiment, one function of accelerator integration circuit1736 is physical separation of graphics processing engines1731(1)-1731(N) so that they appear to a system as independent units.

In at least one embodiment, one or more graphics memories1733(1)-1733(M) are coupled to each of graphics processing engines1731(1)-1731(N), respectively and N=M. In at least one embodiment,graphics memories 1733(1)-1733(M) store instructions and data beingprocessed by each of graphics processing engines 1731(1)-1731(N). In atleast one embodiment, graphics memories 1733(1)-1733(M) may be volatilememories such as DRAMs (including stacked DRAMs), GDDR memory (e.g.,GDDR5, GDDR6), or HBM, and/or may be non-volatile memories such as 3DXPoint or Nano-Ram.

In at least one embodiment, to reduce data traffic over high-speed link1740, biasing techniques can be used to ensure that data stored ingraphics memories 1733(1)-1733(M) is data that will be used mostfrequently by graphics processing engines 1731(1)-1731(N) and preferablynot used by cores 1760A-1760D (at least not frequently). Similarly, inat least one embodiment, a biasing mechanism attempts to keep dataneeded by cores (and preferably not graphics processing engines1731(1)-1731(N)) within caches 1762A-1762D, 1756 and system memory 1714.

FIG. 17C illustrates another exemplary embodiment in which acceleratorintegration circuit 1736 is integrated within processor 1707. In thisembodiment, graphics processing engines 1731(1)-1731(N) communicatedirectly over high-speed link 1740 to accelerator integration circuit1736 via interface 1737 and interface 1735 (which, again, may be anyform of bus or interface protocol). In at least one embodiment,accelerator integration circuit 1736 may perform similar operations asthose described with respect to FIG. 17B, but potentially at a higherthroughput given its close proximity to coherence bus 1764 and caches1762A-1762D, 1756. In at least one embodiment, an acceleratorintegration circuit supports different programming models including adedicated-process programming model (no graphics acceleration modulevirtualization) and shared programming models (with virtualization),which may include programming models which are controlled by acceleratorintegration circuit 1736 and programming models which are controlled bygraphics acceleration module 1746.

In at least one embodiment, graphics processing engines 1731(1)-1731(N)are dedicated to a single application or process under a singleoperating system. In at least one embodiment, a single application canfunnel other application requests to graphics processing engines1731(1)-1731(N), providing virtualization within a VM/partition.

In at least one embodiment, graphics processing engines 1731(1)-1731(N),may be shared by multiple VM/application partitions. In at least oneembodiment, shared models may use a system hypervisor to virtualizegraphics processing engines 1731(1)-1731(N) to allow access by eachoperating system. In at least one embodiment, for single-partitionsystems without a hypervisor, graphics processing engines1731(1)-1731(N) are owned by an operating system. In at least oneembodiment, an operating system can virtualize graphics processingengines 1731(1)-1731(N) to provide access to each process orapplication.

In at least one embodiment, graphics acceleration module 1746 or anindividual graphics processing engine 1731(1)-1731(N) selects a processelement using a process handle. In at least one embodiment, processelements are stored in system memory 1714 and are addressable using aneffective address to real address translation technique describedherein. In at least one embodiment, a process handle may be animplementation-specific value provided to a host process whenregistering its context with graphics processing engine 1731(1)-1731(N)(that is, calling system software to add a process element to a processelement linked list). In at least one embodiment, a lower 16-bits of aprocess handle may be an offset of a process element within a processelement linked list.

FIG. 17D illustrates an exemplary accelerator integration slice 1790. Inat least one embodiment, a “slice” comprises a specified portion ofprocessing resources of accelerator integration circuit 1736. In atleast one embodiment, an application is effective address space 1782within system memory 1714 stores process elements 1783. In at least oneembodiment, process elements 1783 are stored in response to GPUinvocations 1781 from applications 1780 executed on processor 1707. Inat least one embodiment, a process element 1783 contains process statefor corresponding application 1780. In at least one embodiment, a workdescriptor (WD) 1784 contained in process element 1783 can be a singlejob requested by an application or may contain a pointer to a queue ofjobs. In at least one embodiment, WD 1784 is a pointer to a job requestqueue in an application's effective address space 1782.

In at least one embodiment, graphics acceleration module 1746 and/orindividual graphics processing engines 1731(1)-1731(N) can be shared byall or a subset of processes in a system. In at least one embodiment, aninfrastructure for setting up process states and sending a WD 1784 to agraphics acceleration module 1746 to start a job in a virtualizedenvironment may be included.

In at least one embodiment, a dedicated-process programming model isimplementation-specific. In at least one embodiment, in this model, asingle process owns graphics acceleration module 1746 or an individualgraphics processing engine 1731. In at least one embodiment, whengraphics acceleration module 1746 is owned by a single process, ahypervisor initializes accelerator integration circuit 1736 for anowning partition and an operating system initializes acceleratorintegration circuit 1736 for an owning process when graphicsacceleration module 1746 is assigned.

In at least one embodiment, in operation, a WD fetch unit 1791 inaccelerator integration slice 1790 fetches next WD 1784, which includesan indication of work to be done by one or more graphics processingengines of graphics acceleration module 1746. In at least oneembodiment, data from WD 1784 may be stored in registers 1745 and usedby MMU 1739, interrupt management circuit 1747 and/or context managementcircuit 1748 as illustrated. For example, one embodiment of MMU 1739includes segment/page walk circuitry for accessing segment/page tables1786 within an OS virtual address space 1785. In at least oneembodiment, interrupt management circuit 1747 may process interruptevents 1792 received from graphics acceleration module 1746. In at leastone embodiment, when performing graphics operations, an effectiveaddress 1793 generated by a graphics processing engine 1731(1)-1731(N)is translated to a real address by MMU 1739.

In at least one embodiment, registers 1745 are duplicated for eachgraphics processing engine 1731(1)-1731(N) and/or graphics accelerationmodule 1746 and may be initialized by a hypervisor or an operatingsystem. In at least one embodiment, each of these duplicated registersmay be included in an accelerator integration slice 1790. Exemplaryregisters that may be initialized by a hypervisor are shown in Table 1.

TABLE 1 Hypervisor Initialized Registers Register # Description 1 SliceControl Register 2 Real Address (RA) Scheduled Processes Area Pointer 3Authority Mask Override Register 4 Interrupt Vector Table Entry Offset 5Interrupt Vector Table Entry Limit 6 State Register 7 Logical PartitionID 8 Real address (RA) Hypervisor Accelerator Utilization Record Pointer9 Storage Description Register

Exemplary registers that may be initialized by an operating system areshown in Table 2.

TABLE 2 Operating System Initialized Registers Register # Description 1Process and Thread Identification 2 Effective Address (EA) ContextSave/Restore Pointer 3 Virtual Address (VA) Accelerator UtilizationRecord Pointer 4 Virtual Address (VA) Storage Segment Table Pointer 5Authority Mask 6 Work descriptor

In at least one embodiment, each WD 1784 is specific to a particulargraphics acceleration module 1746 and/or graphics processing engines1731(1)-1731(N). In at least one embodiment, it contains all informationrequired by a graphics processing engine 1731(1)-1731(N) to do work, orit can be a pointer to a memory location where an application has set upa command queue of work to be completed.

FIG. 17E illustrates additional details for one exemplary embodiment ofa shared model. This embodiment includes a hypervisor real address space1798 in which a process element list 1799 is stored. In at least oneembodiment, hypervisor real address space 1798 is accessible via ahypervisor 1796 which virtualizes graphics acceleration module enginesfor operating system 1795.

In at least one embodiment, shared programming models allow for all or asubset of processes from all or a subset of partitions in a system touse a graphics acceleration module 1746. In at least one embodiment,there are two programming models where graphics acceleration module 1746is shared by multiple processes and partitions, namely time-slicedshared and graphics directed shared.

In at least one embodiment, in this model, system hypervisor 1796 ownsgraphics acceleration module 1746 and makes its function available toall operating systems 1795. In at least one embodiment, for a graphicsacceleration module 1746 to support virtualization by system hypervisor1796, graphics acceleration module 1746 may adhere to certainrequirements, such as (1) an application's job request must beautonomous (that is, state does not need to be maintained between jobs),or graphics acceleration module 1746 must provide a context save andrestore mechanism, (2) an application's job request is guaranteed bygraphics acceleration module 1746 to complete in a specified amount oftime, including any translation faults, or graphics acceleration module1746 provides an ability to preempt processing of a job, and (3)graphics acceleration module 1746 must be guaranteed fairness betweenprocesses when operating in a directed shared programming model.

In at least one embodiment, application 1780 is required to make anoperating system 1795 system call with a graphics acceleration moduletype, a work descriptor (WD), an authority mask register (AMR) value,and a context save/restore area pointer (CSRP). In at least oneembodiment, graphics acceleration module type describes a targetedacceleration function for a system call. In at least one embodiment,graphics acceleration module type may be a system-specific value. In atleast one embodiment, WD is formatted specifically for graphicsacceleration module 1746 and can be in a form of a graphics accelerationmodule 1746 command, an effective address pointer to a user-definedstructure, an effective address pointer to a queue of commands, or anyother data structure to describe work to be done by graphicsacceleration module 1746.

In at least one embodiment, an AMR value is an AMR state to use for acurrent process. In at least one embodiment, a value passed to anoperating system is similar to an application setting an AMR. In atleast one embodiment, if accelerator integration circuit 1736 (notshown) and graphics acceleration module 1746 implementations do notsupport a User Authority Mask Override Register (UAMOR), an operatingsystem may apply a current UAMOR value to an AMR value before passing anAMR in a hypervisor call. In at least one embodiment, hypervisor 1796may optionally apply a current Authority Mask Override Register (AMOR)value before placing an AMR into process element 1783. In at least oneembodiment, CSRP is one of registers 1745 containing an effectiveaddress of an area in an application's effective address space 1782 forgraphics acceleration module 1746 to save and restore context state. Inat least one embodiment, this pointer is optional if no state isrequired to be saved between jobs or when a job is preempted. In atleast one embodiment, context save/restore area may be pinned systemmemory.

Upon receiving a system call, operating system 1795 may verify thatapplication 1780 has registered and been given authority to use graphicsacceleration module 1746. In at least one embodiment, operating system1795 then calls hypervisor 1796 with information shown in Table 3.

TABLE 3 OS to Hypervisor Call Parameters Parameter # Description 1 Awork descriptor (WD) 2 An Authority Mask Register (AMR) value(potentially masked) 3 An effective address (EA) Context Save/RestoreArea Pointer (CSRP) 4 A process ID (PID) and optional thread ID (TID) 5A virtual address (VA) accelerator utilization record pointer (AURP) 6Virtual address of storage segment table pointer (SSTP) 7 A logicalinterrupt service number (LISN)

In at least one embodiment, upon receiving a hypervisor call, hypervisor1796 verifies that operating system 1795 has registered and been givenauthority to use graphics acceleration module 1746. In at least oneembodiment, hypervisor 1796 then puts process element 1783 into aprocess element linked list for a corresponding graphics accelerationmodule 1746 type. In at least one embodiment, a process element mayinclude information shown in Table 4.

TABLE 4 Process Element Information Element # Description 1 A workdescriptor (WD) 2 An Authority Mask Register (AMR) value (potentiallymasked). 3 An effective address (EA) Context Save/Restore Area Pointer(CSRP) 4 A process ID (PID) and optional thread ID (TID) 5 A virtualaddress (VA) accelerator utilization record pointer (AURP) 6 Virtualaddress of storage segment table pointer (SSTP) 7 A logical interruptservice number (LISN) 8 Interrupt vector table, derived from hypervisorcall parameters 9 A state register (SR) value 10 A logical partition ID(LPID) 11 A real address (RA) hypervisor accelerator utilization recordpointer 12 Storage Descriptor Register (SDR)

In at least one embodiment, hypervisor initializes a plurality ofaccelerator integration slice 1790 registers 1745.

As illustrated in FIG. 17F, in at least one embodiment, a unified memoryis used, addressable via a common virtual memory address space used toaccess physical processor memories 1701(1)-1701(N) and GPU memories1720(1)-1720(N). In this implementation, operations executed on GPUs1710(1)-1710(N) utilize a same virtual/effective memory address space toaccess processor memories 1701(1)-1701(M) and vice versa, therebysimplifying programmability. In at least one embodiment, a first portionof a virtual/effective address space is allocated to processor memory1701(1), a second portion to second processor memory 1701(N), a thirdportion to GPU memory 1720(1), and so on. In at least one embodiment, anentire virtual/effective memory space (sometimes referred to as aneffective address space) is thereby distributed across each of processormemories 1701 and GPU memories 1720, allowing any processor or GPU toaccess any physical memory with a virtual address mapped to that memory.

In at least one embodiment, bias/coherence management circuitry1794A-1794E within one or more of MMUs 1739A-1739E ensures cachecoherence between caches of one or more host processors (e.g., 1705) andGPUs 1710 and implements biasing techniques indicating physical memoriesin which certain types of data should be stored. In at least oneembodiment, while multiple instances of bias/coherence managementcircuitry 1794A-1794E are illustrated in FIG. 17F, bias/coherencecircuitry may be implemented within an MMU of one or more hostprocessors 1705 and/or within accelerator integration circuit 1736.

One embodiment allows GPU memories 1720 to be mapped as part of systemmemory, and accessed using shared virtual memory (SVM) technology, butwithout suffering performance drawbacks associated with full systemcache coherence. In at least one embodiment, an ability for GPU memories1720 to be accessed as system memory without onerous cache coherenceoverhead provides a beneficial operating environment for GPU offload. Inat least one embodiment, this arrangement allows software of hostprocessor 1705 to setup operands and access computation results, withoutoverhead of tradition I/O DMA data copies. In at least one embodiment,such traditional copies involve driver calls, interrupts and memorymapped I/O (MMIO) accesses that are all inefficient relative to simplememory accesses. In at least one embodiment, an ability to access GPUmemories 1720 without cache coherence overheads can be critical toexecution time of an offloaded computation. In at least one embodiment,in cases with substantial streaming write memory traffic, for example,cache coherence overhead can significantly reduce an effective writebandwidth seen by a GPU 1710. In at least one embodiment, efficiency ofoperand setup, efficiency of results access, and efficiency of GPUcomputation may play a role in determining effectiveness of a GPUoffload.

In at least one embodiment, selection of GPU bias and host processorbias is driven by a bias tracker data structure. In at least oneembodiment, a bias table may be used, for example, which may be apage-granular structure (e.g., controlled at a granularity of a memorypage) that includes 1 or 2 bits per GPU-attached memory page. In atleast one embodiment, a bias table may be implemented in a stolen memoryrange of one or more GPU memories 1720, with or without a bias cache ina GPU 1710 (e.g., to cache frequently/recently used entries of a biastable). Alternatively, in at least one embodiment, an entire bias tablemay be maintained within a GPU.

In at least one embodiment, a bias table entry associated with eachaccess to a GPU attached memory 1720 is accessed prior to actual accessto a GPU memory, causing following operations. In at least oneembodiment, local requests from a GPU 1710 that find their page in GPUbias are forwarded directly to a corresponding GPU memory 1720. In atleast one embodiment, local requests from a GPU that find their page inhost bias are forwarded to processor 1705 (e.g., over a high-speed linkas described herein). In at least one embodiment, requests fromprocessor 1705 that find a requested page in host processor biascomplete a request like a normal memory read. Alternatively, requestsdirected to a GPU-biased page may be forwarded to a GPU 1710. In atleast one embodiment, a GPU may then transition a page to a hostprocessor bias if it is not currently using a page. In at least oneembodiment, a bias state of a page can be changed either by asoftware-based mechanism, a hardware-assisted software-based mechanism,or, for a limited set of cases, a purely hardware-based mechanism.

In at least one embodiment, one mechanism for changing bias stateemploys an API call (e.g., OpenCL), which, in turn, calls a GPU's devicedriver which, in turn, sends a message (or enqueues a commanddescriptor) to a GPU directing it to change a bias state and, for sometransitions, perform a cache flushing operation in a host. In at leastone embodiment, a cache flushing operation is used for a transition fromhost processor 1705 bias to GPU bias, but is not for an oppositetransition.

In at least one embodiment, cache coherency is maintained by temporarilyrendering GPU-biased pages uncacheable by host processor 1705. In atleast one embodiment, to access these pages, processor 1705 may requestaccess from GPU 1710, which may or may not grant access right away. Inat least one embodiment, thus, to reduce communication between processor1705 and GPU 1710 it is beneficial to ensure that GPU-biased pages arethose which are required by a GPU but not host processor 1705 and viceversa.

Hardware structure(s) 915 are used to perform one or more embodiments.Details regarding a hardware structure(s) 915 may be provided herein inconjunction with FIGS. 9A and/or 9B.

FIG. 18 illustrates exemplary integrated circuits and associatedgraphics processors that may be fabricated using one or more IP cores,according to various embodiments described herein. In addition to whatis illustrated, other logic and circuits may be included in at least oneembodiment, including additional graphics processors/cores, peripheralinterface controllers, or general-purpose processor cores.

FIG. 18 is a block diagram illustrating an exemplary system on a chipintegrated circuit 1800 that may be fabricated using one or more IPcores, according to at least one embodiment. In at least one embodiment,integrated circuit 1800 includes one or more application processor(s)1805 (e.g., CPUs), at least one graphics processor 1810, and mayadditionally include an image processor 1815 and/or a video processor1820, any of which may be a modular IP core. In at least one embodiment,integrated circuit 1800 includes peripheral or bus logic including a USBcontroller 1825, a UART controller 1830, an SPI/SDIO controller 1835,and an I²2S/I²2C controller 1840. In at least one embodiment, integratedcircuit 1800 can include a display device 1845 coupled to one or more ofa high-definition multimedia interface (HDMI) controller 1850 and amobile industry processor interface (MIPI) display interface 1855. In atleast one embodiment, storage may be provided by a flash memorysubsystem 1860 including flash memory and a flash memory controller. Inat least one embodiment, a memory interface may be provided via a memorycontroller 1865 for access to SDRAM or SRAM memory devices. In at leastone embodiment, some integrated circuits additionally include anembedded security engine 1870.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used inintegrated circuit 1800 for inferencing or predicting operations based,at least in part, on weight parameters calculated using neural networktraining operations, neural network functions and/or architectures, orneural network use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIGS. 19A and 19B illustrate exemplary integrated circuits andassociated graphics processors that may be fabricated using one or moreIP cores, according to various embodiments described herein. In additionto what is illustrated, other logic and circuits may be included in atleast one embodiment, including additional graphics processors/cores,peripheral interface controllers, or general-purpose processor cores.

FIGS. 19A and 19B are block diagrams illustrating exemplary graphicsprocessors for use within an SoC, according to embodiments describedherein. FIG. 19A illustrates an exemplary graphics processor 1910 of asystem on a chip integrated circuit that may be fabricated using one ormore IP cores, according to at least one embodiment. FIG. 19Billustrates an additional exemplary graphics processor 1940 of a systemon a chip integrated circuit that may be fabricated using one or more IPcores, according to at least one embodiment. In at least one embodiment,graphics processor 1910 of FIG. 19A is a low power graphics processorcore. In at least one embodiment, graphics processor 1940 of FIG. 19B isa higher performance graphics processor core. In at least oneembodiment, each of graphics processors 1910, 1940 can be variants ofgraphics processor 1810 of FIG. 18.

In at least one embodiment, graphics processor 1910 includes a vertexprocessor 1905 and one or more fragment processor(s) 1915A-1915N (e.g.,1915A, 1915B, 1915C, 1915D, through 1915N-1, and 1915N). In at least oneembodiment, graphics processor 1910 can execute different shaderprograms via separate logic, such that vertex processor 1905 isoptimized to execute operations for vertex shader programs, while one ormore fragment processor(s) 1915A-1915N execute fragment (e.g., pixel)shading operations for fragment or pixel shader programs. In at leastone embodiment, vertex processor 1905 performs a vertex processing stageof a 3D graphics pipeline and generates primitives and vertex data. Inat least one embodiment, fragment processor(s) 1915A-1915N use primitiveand vertex data generated by vertex processor 1905 to produce aframebuffer that is displayed on a display device. In at least oneembodiment, fragment processor(s) 1915A-1915N are optimized to executefragment shader programs as provided for in an OpenGL API, which may beused to perform similar operations as a pixel shader program as providedfor in a Direct 3D API.

In at least one embodiment, graphics processor 1910 additionallyincludes one or more memory management units (MMUs) 1920A-1920B,cache(s) 1925A-1925B, and circuit interconnect(s) 1930A-1930B. In atleast one embodiment, one or more MMU(s) 1920A-1920B provide for virtualto physical address mapping for graphics processor 1910, including forvertex processor 1905 and/or fragment processor(s) 1915A-1915N, whichmay reference vertex or image/texture data stored in memory, in additionto vertex or image/texture data stored in one or more cache(s)1925A-1925B. In at least one embodiment, one or more MMU(s) 1920A-1920Bmay be synchronized with other MMUs within a system, including one ormore MMUs associated with one or more application processor(s) 1805,image processors 1815, and/or video processors 1820 of FIG. 18, suchthat each processor 1805-1820 can participate in a shared or unifiedvirtual memory system. In at least one embodiment, one or more circuitinterconnect(s) 1930A-1930B enable graphics processor 1910 to interfacewith other IP cores within SoC, either via an internal bus of SoC or viaa direct connection.

In at least one embodiment, graphics processor 1940 includes one or moreshader core(s) 1955A-1955N (e.g., 1955A, 1955B, 1955C, 1955D, 1955E,1955F, through 1955N-1, and 1955N) as shown in FIG. 19B, which providesfor a unified shader core architecture in which a single core or type orcore can execute all types of programmable shader code, including shaderprogram code to implement vertex shaders, fragment shaders, and/orcompute shaders. In at least one embodiment, a number of shader corescan vary. In at least one embodiment, graphics processor 1940 includesan inter-core task manager 1945, which acts as a thread dispatcher todispatch execution threads to one or more shader cores 1955A-1955N and atiling unit 1958 to accelerate tiling operations for tile-basedrendering, in which rendering operations for a scene are subdivided inimage space, for example to exploit local spatial coherence within ascene or to optimize use of internal caches.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used inintegrated circuit 19A and/or 19B for inferencing or predictingoperations based, at least in part, on weight parameters calculatedusing neural network training operations, neural network functionsand/or architectures, or neural network use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIGS. 20A and 20B illustrate additional exemplary graphics processorlogic according to embodiments described herein. FIG. 20A illustrates agraphics core 2000 that may be included within graphics processor 1810of FIG. 18, in at least one embodiment, and may be a unified shader core1955A-1955N as in FIG. 19B in at least one embodiment. FIG. 20Billustrates a highly-parallel general-purpose graphics processing unit(“GPGPU”) 2030 suitable for deployment on a multi-chip module in atleast one embodiment.

In at least one embodiment, graphics core 2000 includes a sharedinstruction cache 2002, a texture unit 2018, and a cache/shared memory2020 that are common to execution resources within graphics core 2000.In at least one embodiment, graphics core 2000 can include multipleslices 2001A-2001N or a partition for each core, and a graphicsprocessor can include multiple instances of graphics core 2000. In atleast one embodiment, slices 2001A-2001N can include support logicincluding a local instruction cache 2004A-2004N, a thread scheduler2006A-2006N, a thread dispatcher 2008A-2008N, and a set of registers2010A-2010N. In at least one embodiment, slices 2001A-2001N can includea set of additional function units (AFUs 2012A-2012N), floating-pointunits (FPUs 2014A-2014N), integer arithmetic logic units (ALUs2016A-2016N), address computational units (ACUs 2013A-2013N),double-precision floating-point units (DPFPUs 2015A-2015N), and matrixprocessing units (MPUs 2017A-2017N).

In at least one embodiment, FPUs 2014A-2014N can performsingle-precision (32-bit) and half-precision (16-bit) floating pointoperations, while DPFPUs 2015A-2015N perform double precision (64-bit)floating point operations. In at least one embodiment, ALUs 2016A-2016Ncan perform variable precision integer operations at 8-bit, 16-bit, and32-bit precision, and can be configured for mixed precision operations.In at least one embodiment, MPUs 2017A-2017N can also be configured formixed precision matrix operations, including half-precision floatingpoint and 8-bit integer operations. In at least one embodiment, MPUs2017-2017N can perform a variety of matrix operations to acceleratemachine learning application frameworks, including enabling support foraccelerated general matrix to matrix multiplication (GEMM). In at leastone embodiment, AFUs 2012A-2012N can perform additional logic operationsnot supported by floating-point or integer units, includingtrigonometric operations (e.g., sine, cosine, etc.).

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in graphicscore 2000 for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 20B illustrates a general-purpose processing unit (GPGPU) 2030 thatcan be configured to enable highly-parallel compute operations to beperformed by an array of graphics processing units, in at least oneembodiment. In at least one embodiment, GPGPU 2030 can be linkeddirectly to other instances of GPGPU 2030 to create a multi-GPU clusterto improve training speed for deep neural networks. In at least oneembodiment, GPGPU 2030 includes a host interface 2032 to enable aconnection with a host processor. In at least one embodiment, hostinterface 2032 is a PCI Express interface. In at least one embodiment,host interface 2032 can be a vendor-specific communications interface orcommunications fabric. In at least one embodiment, GPGPU 2030 receivescommands from a host processor and uses a global scheduler 2034 todistribute execution threads associated with those commands to a set ofcompute clusters 2036A-2036H. In at least one embodiment, computeclusters 2036A-2036H share a cache memory 2038. In at least oneembodiment, cache memory 2038 can serve as a higher-level cache forcache memories within compute clusters 2036A-2036H.

In at least one embodiment, GPGPU 2030 includes memory 2044A-2044Bcoupled with compute clusters 2036A-2036H via a set of memorycontrollers 2042A-2042B. In at least one embodiment, memory 2044A-2044Bcan include various types of memory devices including dynamic randomaccess memory (DRAM) or graphics random access memory, such assynchronous graphics random access memory (SGRAM), including graphicsdouble data rate (GDDR) memory.

In at least one embodiment, compute clusters 2036A-2036H each include aset of graphics cores, such as graphics core 2000 of FIG. 20A, which caninclude multiple types of integer and floating point logic units thatcan perform computational operations at a range of precisions includingsuited for machine learning computations. For example, in at least oneembodiment, at least a subset of floating point units in each of computeclusters 2036A-2036H can be configured to perform 16-bit or 32-bitfloating point operations, while a different subset of floating pointunits can be configured to perform 64-bit floating point operations.

In at least one embodiment, multiple instances of GPGPU 2030 can beconfigured to operate as a compute cluster. In at least one embodiment,communication used by compute clusters 2036A-2036H for synchronizationand data exchange varies across embodiments. In at least one embodiment,multiple instances of GPGPU 2030 communicate over host interface 2032.In at least one embodiment, GPGPU 2030 includes an I/O hub 2039 thatcouples GPGPU 2030 with a GPU link 2040 that enables a direct connectionto other instances of GPGPU 2030. In at least one embodiment, GPU link2040 is coupled to a dedicated GPU-to-GPU bridge that enablescommunication and synchronization between multiple instances of GPGPU2030. In at least one embodiment, GPU link 2040 couples with ahigh-speed interconnect to transmit and receive data to other GPGPUs orparallel processors. In at least one embodiment, multiple instances ofGPGPU 2030 are located in separate data processing systems andcommunicate via a network device that is accessible via host interface2032. In at least one embodiment GPU link 2040 can be configured toenable a connection to a host processor in addition to or as analternative to host interface 2032.

In at least one embodiment, GPGPU 2030 can be configured to train neuralnetworks. In at least one embodiment, GPGPU 2030 can be used within aninferencing platform. In at least one embodiment, in which GPGPU 2030 isused for inferencing, GPGPU 2030 may include fewer compute clusters2036A-2036H relative to when GPGPU 2030 is used for training a neuralnetwork. In at least one embodiment, memory technology associated withmemory 2044A-2044B may differ between inferencing and trainingconfigurations, with higher bandwidth memory technologies devoted totraining configurations. In at least one embodiment, an inferencingconfiguration of GPGPU 2030 can support inferencing specificinstructions. For example, in at least one embodiment, an inferencingconfiguration can provide support for one or more 8-bit integer dotproduct instructions, which may be used during inferencing operationsfor deployed neural networks.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in GPGPU2030 for inferencing or predicting operations based, at least in part,on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 21 is a block diagram illustrating a computing system 2100according to at least one embodiment. In at least one embodiment,computing system 2100 includes a processing subsystem 2101 having one ormore processor(s) 2102 and a system memory 2104 communicating via aninterconnection path that may include a memory hub 2105. In at least oneembodiment, memory hub 2105 may be a separate component within a chipsetcomponent or may be integrated within one or more processor(s) 2102. Inat least one embodiment, memory hub 2105 couples with an I/O subsystem2111 via a communication link 2106. In at least one embodiment, I/Osubsystem 2111 includes an I/O hub 2107 that can enable computing system2100 to receive input from one or more input device(s) 2108. In at leastone embodiment, I/O hub 2107 can enable a display controller, which maybe included in one or more processor(s) 2102, to provide outputs to oneor more display device(s) 2110A. In at least one embodiment, one or moredisplay device(s) 2110A coupled with I/O hub 2107 can include a local,internal, or embedded display device.

In at least one embodiment, processing subsystem 2101 includes one ormore parallel processor(s) 2112 coupled to memory hub 2105 via a bus orother communication link 2113. In at least one embodiment, communicationlink 2113 may use one of any number of standards based communicationlink technologies or protocols, such as, but not limited to PCI Express,or may be a vendor-specific communications interface or communicationsfabric. In at least one embodiment, one or more parallel processor(s)2112 form a computationally focused parallel or vector processing systemthat can include a large number of processing cores and/or processingclusters, such as a many-integrated core (MIC) processor. In at leastone embodiment, some or all of parallel processor(s) 2112 form agraphics processing subsystem that can output pixels to one of one ormore display device(s) 2110A coupled via I/O Hub 2107. In at least oneembodiment, parallel processor(s) 2112 can also include a displaycontroller and display interface (not shown) to enable a directconnection to one or more display device(s) 2110B.

In at least one embodiment, a system storage unit 2114 can connect toI/O hub 2107 to provide a storage mechanism for computing system 2100.In at least one embodiment, an I/O switch 2116 can be used to provide aninterface mechanism to enable connections between I/O hub 2107 and othercomponents, such as a network adapter 2118 and/or a wireless networkadapter 2119 that may be integrated into platform, and various otherdevices that can be added via one or more add-in device(s) 2120. In atleast one embodiment, network adapter 2118 can be an Ethernet adapter oranother wired network adapter. In at least one embodiment, wirelessnetwork adapter 2119 can include one or more of a Wi-Fi, Bluetooth, nearfield communication (NFC), or other network device that includes one ormore wireless radios.

In at least one embodiment, computing system 2100 can include othercomponents not explicitly shown, including USB or other portconnections, optical storage drives, video capture devices, and like,may also be connected to I/O hub 2107. In at least one embodiment,communication paths interconnecting various components in FIG. 21 may beimplemented using any suitable protocols, such as PCI (PeripheralComponent Interconnect) based protocols (e.g., PCI-Express), or otherbus or point-to-point communication interfaces and/or protocol(s), suchas NV-Link high-speed interconnect, or interconnect protocols.

In at least one embodiment, parallel processor(s) 2112 incorporatecircuitry optimized for graphics and video processing, including, forexample, video output circuitry, and constitutes a graphics processingunit (GPU). In at least one embodiment, parallel processor(s) 2112incorporate circuitry optimized for general purpose processing. In atleast embodiment, components of computing system 2100 may be integratedwith one or more other system elements on a single integrated circuit.For example, in at least one embodiment, parallel processor(s) 2112,memory hub 2105, processor(s) 2102, and I/O hub 2107 can be integratedinto a system on chip (SoC) integrated circuit. In at least oneembodiment, components of computing system 2100 can be integrated into asingle package to form a system in package (SIP) configuration. In atleast one embodiment, at least a portion of components of computingsystem 2100 can be integrated into a multi-chip module (MCM), which canbe interconnected with other multi-chip modules into a modular computingsystem.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in systemFIG. 2100 for inferencing or predicting operations based, at least inpart, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

Processors

FIG. 22A illustrates a parallel processor 2200 according to at least oneembodiment. In at least one embodiment, various components of parallelprocessor 2200 may be implemented using one or more integrated circuitdevices, such as programmable processors, application specificintegrated circuits (ASICs), or field programmable gate arrays (FPGA).In at least one embodiment, illustrated parallel processor 2200 is avariant of one or more parallel processor(s) 2112 shown in FIG. 21according to an exemplary embodiment.

In at least one embodiment, parallel processor 2200 includes a parallelprocessing unit 2202. In at least one embodiment, parallel processingunit 2202 includes an I/O unit 2204 that enables communication withother devices, including other instances of parallel processing unit2202. In at least one embodiment, I/O unit 2204 may be directlyconnected to other devices. In at least one embodiment, I/O unit 2204connects with other devices via use of a hub or switch interface, suchas a memory hub 2205. In at least one embodiment, connections betweenmemory hub 2205 and I/O unit 2204 form a communication link 2213. In atleast one embodiment, I/O unit 2204 connects with a host interface 2206and a memory crossbar 2216, where host interface 2206 receives commandsdirected to performing processing operations and memory crossbar 2216receives commands directed to performing memory operations.

In at least one embodiment, when host interface 2206 receives a commandbuffer via I/O unit 2204, host interface 2206 can direct work operationsto perform those commands to a front end 2208. In at least oneembodiment, front end 2208 couples with a scheduler 2210, which isconfigured to distribute commands or other work items to a processingcluster array 2212. In at least one embodiment, scheduler 2210 ensuresthat processing cluster array 2212 is properly configured and in a validstate before tasks are distributed to a cluster of processing clusterarray 2212. In at least one embodiment, scheduler 2210 is implementedvia firmware logic executing on a microcontroller. In at least oneembodiment, microcontroller implemented scheduler 2210 is configurableto perform complex scheduling and work distribution operations at coarseand fine granularity, enabling rapid preemption and context switching ofthreads executing on processing array 2212. In at least one embodiment,host software can prove workloads for scheduling on processing clusterarray 2212 via one of multiple graphics processing paths. In at leastone embodiment, workloads can then be automatically distributed acrossprocessing array cluster 2212 by scheduler 2210 logic within amicrocontroller including scheduler 2210.

In at least one embodiment, processing cluster array 2212 can include upto “N” processing clusters (e.g., cluster 2214A, cluster 2214B, throughcluster 2214N), where “N” represents a positive integer (which may be adifferent integer “N” than used in other figures). In at least oneembodiment, each cluster 2214A-2214N of processing cluster array 2212can execute a large number of concurrent threads. In at least oneembodiment, scheduler 2210 can allocate work to clusters 2214A-2214N ofprocessing cluster array 2212 using various scheduling and/or workdistribution algorithms, which may vary depending on workload arisingfor each type of program or computation. In at least one embodiment,scheduling can be handled dynamically by scheduler 2210, or can beassisted in part by compiler logic during compilation of program logicconfigured for execution by processing cluster array 2212. In at leastone embodiment, different clusters 2214A-2214N of processing clusterarray 2212 can be allocated for processing different types of programsor for performing different types of computations.

In at least one embodiment, processing cluster array 2212 can beconfigured to perform various types of parallel processing operations.In at least one embodiment, processing cluster array 2212 is configuredto perform general-purpose parallel compute operations. For example, inat least one embodiment, processing cluster array 2212 can include logicto execute processing tasks including filtering of video and/or audiodata, performing modeling operations, including physics operations, andperforming data transformations.

In at least one embodiment, processing cluster array 2212 is configuredto perform parallel graphics processing operations. In at least oneembodiment, processing cluster array 2212 can include additional logicto support execution of such graphics processing operations, includingbut not limited to, texture sampling logic to perform textureoperations, as well as tessellation logic and other vertex processinglogic. In at least one embodiment, processing cluster array 2212 can beconfigured to execute graphics processing related shader programs suchas, but not limited to, vertex shaders, tessellation shaders, geometryshaders, and pixel shaders. In at least one embodiment, parallelprocessing unit 2202 can transfer data from system memory via I/O unit2204 for processing. In at least one embodiment, during processing,transferred data can be stored to on-chip memory (e.g., parallelprocessor memory 2222) during processing, then written back to systemmemory.

In at least one embodiment, when parallel processing unit 2202 is usedto perform graphics processing, scheduler 2210 can be configured todivide a processing workload into approximately equal sized tasks, tobetter enable distribution of graphics processing operations to multipleclusters 2214A-2214N of processing cluster array 2212. In at least oneembodiment, portions of processing cluster array 2212 can be configuredto perform different types of processing. For example, in at least oneembodiment, a first portion may be configured to perform vertex shadingand topology generation, a second portion may be configured to performtessellation and geometry shading, and a third portion may be configuredto perform pixel shading or other screen space operations, to produce arendered image for display. In at least one embodiment, intermediatedata produced by one or more of clusters 2214A-2214N may be stored inbuffers to allow intermediate data to be transmitted between clusters2214A-2214N for further processing.

In at least one embodiment, processing cluster array 2212 can receiveprocessing tasks to be executed via scheduler 2210, which receivescommands defining processing tasks from front end 2208. In at least oneembodiment, processing tasks can include indices of data to beprocessed, e.g., surface (patch) data, primitive data, vertex data,and/or pixel data, as well as state parameters and commands defining howdata is to be processed (e.g., what program is to be executed). In atleast one embodiment, scheduler 2210 may be configured to fetch indicescorresponding to tasks or may receive indices from front end 2208. In atleast one embodiment, front end 2208 can be configured to ensureprocessing cluster array 2212 is configured to a valid state before aworkload specified by incoming command buffers (e.g., batch-buffers,push buffers, etc.) is initiated.

In at least one embodiment, each of one or more instances of parallelprocessing unit 2202 can couple with a parallel processor memory 2222.In at least one embodiment, parallel processor memory 2222 can beaccessed via memory crossbar 2216, which can receive memory requestsfrom processing cluster array 2212 as well as I/O unit 2204. In at leastone embodiment, memory crossbar 2216 can access parallel processormemory 2222 via a memory interface 2218. In at least one embodiment,memory interface 2218 can include multiple partition units (e.g.,partition unit 2220A, partition unit 2220B, through partition unit2220N) that can each couple to a portion (e.g., memory unit) of parallelprocessor memory 2222. In at least one embodiment, a number of partitionunits 2220A-2220N is configured to be equal to a number of memory units,such that a first partition unit 2220A has a corresponding first memoryunit 2224A, a second partition unit 2220B has a corresponding memoryunit 2224B, and an N-th partition unit 2220N has a corresponding N-thmemory unit 2224N. In at least one embodiment, a number of partitionunits 2220A-2220N may not be equal to a number of memory units.

In at least one embodiment, memory units 2224A-2224N can include varioustypes of memory devices, including dynamic random access memory (DRAM)or graphics random access memory, such as synchronous graphics randomaccess memory (SGRAM), including graphics double data rate (GDDR)memory. In at least one embodiment, memory units 2224A-2224N may alsoinclude 3D stacked memory, including but not limited to high bandwidthmemory (HBM). In at least one embodiment, render targets, such as framebuffers or texture maps may be stored across memory units 2224A-2224N,allowing partition units 2220A-2220N to write portions of each rendertarget in parallel to efficiently use available bandwidth of parallelprocessor memory 2222. In at least one embodiment, a local instance ofparallel processor memory 2222 may be excluded in favor of a unifiedmemory design that utilizes system memory in conjunction with localcache memory.

In at least one embodiment, any one of clusters 2214A-2214N ofprocessing cluster array 2212 can process data that will be written toany of memory units 2224A-2224N within parallel processor memory 2222.In at least one embodiment, memory crossbar 2216 can be configured totransfer an output of each cluster 2214A-2214N to any partition unit2220A-2220N or to another cluster 2214A-2214N, which can performadditional processing operations on an output. In at least oneembodiment, each cluster 2214A-2214N can communicate with memoryinterface 2218 through memory crossbar 2216 to read from or write tovarious external memory devices. In at least one embodiment, memorycrossbar 2216 has a connection to memory interface 2218 to communicatewith I/O unit 2204, as well as a connection to a local instance ofparallel processor memory 2222, enabling processing units withindifferent processing clusters 2214A-2214N to communicate with systemmemory or other memory that is not local to parallel processing unit2202. In at least one embodiment, memory crossbar 2216 can use virtualchannels to separate traffic streams between clusters 2214A-2214N andpartition units 2220A-2220N.

In at least one embodiment, multiple instances of parallel processingunit 2202 can be provided on a single add-in card, or multiple add-incards can be interconnected. In at least one embodiment, differentinstances of parallel processing unit 2202 can be configured tointeroperate even if different instances have different numbers ofprocessing cores, different amounts of local parallel processor memory,and/or other configuration differences. For example, in at least oneembodiment, some instances of parallel processing unit 2202 can includehigher precision floating point units relative to other instances. In atleast one embodiment, systems incorporating one or more instances ofparallel processing unit 2202 or parallel processor 2200 can beimplemented in a variety of configurations and form factors, includingbut not limited to desktop, laptop, or handheld personal computers,servers, workstations, game consoles, and/or embedded systems.

FIG. 22B is a block diagram of a partition unit 2220 according to atleast one embodiment. In at least one embodiment, partition unit 2220 isan instance of one of partition units 2220A-2220N of FIG. 22A. In atleast one embodiment, partition unit 2220 includes an L2 cache 2221, aframe buffer interface 2225, and a ROP 2226 (raster operations unit). Inat least one embodiment, L2 cache 2221 is a read/write cache that isconfigured to perform load and store operations received from memorycrossbar 2216 and ROP 2226. In at least one embodiment, read misses andurgent write-back requests are output by L2 cache 2221 to frame bufferinterface 2225 for processing. In at least one embodiment, updates canalso be sent to a frame buffer via frame buffer interface 2225 forprocessing. In at least one embodiment, frame buffer interface 2225interfaces with one of memory units in parallel processor memory, suchas memory units 2224A-2224N of FIG. 22 (e.g., within parallel processormemory 2222).

In at least one embodiment, ROP 2226 is a processing unit that performsraster operations such as stencil, z test, blending, etc. In at leastone embodiment, ROP 2226 then outputs processed graphics data that isstored in graphics memory. In at least one embodiment, ROP 2226 includescompression logic to compress depth or color data that is written tomemory and decompress depth or color data that is read from memory. Inat least one embodiment, compression logic can be lossless compressionlogic that makes use of one or more of multiple compression algorithms.In at least one embodiment, a type of compression that is performed byROP 2226 can vary based on statistical characteristics of data to becompressed. For example, in at least one embodiment, delta colorcompression is performed on depth and color data on a per-tile basis.

In at least one embodiment, ROP 2226 is included within each processingcluster (e.g., cluster 2214A-2214N of FIG. 22A) instead of withinpartition unit 2220. In at least one embodiment, read and write requestsfor pixel data are transmitted over memory crossbar 2216 instead ofpixel fragment data. In at least one embodiment, processed graphics datamay be displayed on a display device, such as one of one or more displaydevice(s) 2110 of FIG. 21, routed for further processing by processor(s)2102, or routed for further processing by one of processing entitieswithin parallel processor 2200 of FIG. 22A.

FIG. 22C is a block diagram of a processing cluster 2214 within aparallel processing unit according to at least one embodiment. In atleast one embodiment, a processing cluster is an instance of one ofprocessing clusters 2214A-2214N of FIG. 22A. In at least one embodiment,processing cluster 2214 can be configured to execute many threads inparallel, where “thread” refers to an instance of a particular programexecuting on a particular set of input data. In at least one embodiment,single-instruction, multiple-data (SIMD) instruction issue techniquesare used to support parallel execution of a large number of threadswithout providing multiple independent instruction units. In at leastone embodiment, single-instruction, multiple-thread (SIMT) techniquesare used to support parallel execution of a large number of generallysynchronized threads, using a common instruction unit configured toissue instructions to a set of processing engines within each one ofprocessing clusters.

In at least one embodiment, operation of processing cluster 2214 can becontrolled via a pipeline manager 2232 that distributes processing tasksto SIMT parallel processors. In at least one embodiment, pipelinemanager 2232 receives instructions from scheduler 2210 of FIG. 22A andmanages execution of those instructions via a graphics multiprocessor2234 and/or a texture unit 2236. In at least one embodiment, graphicsmultiprocessor 2234 is an exemplary instance of a SIMT parallelprocessor. However, in at least one embodiment, various types of SIMTparallel processors of differing architectures may be included withinprocessing cluster 2214. In at least one embodiment, one or moreinstances of graphics multiprocessor 2234 can be included within aprocessing cluster 2214. In at least one embodiment, graphicsmultiprocessor 2234 can process data and a data crossbar 2240 can beused to distribute processed data to one of multiple possibledestinations, including other shader units. In at least one embodiment,pipeline manager 2232 can facilitate distribution of processed data byspecifying destinations for processed data to be distributed via datacrossbar 2240.

In at least one embodiment, each graphics multiprocessor 2234 withinprocessing cluster 2214 can include an identical set of functionalexecution logic (e.g., arithmetic logic units, load-store units, etc.).In at least one embodiment, functional execution logic can be configuredin a pipelined manner in which new instructions can be issued beforeprevious instructions are complete. In at least one embodiment,functional execution logic supports a variety of operations includinginteger and floating point arithmetic, comparison operations, Booleanoperations, bit-shifting, and computation of various algebraicfunctions. In at least one embodiment, same functional-unit hardware canbe leveraged to perform different operations and any combination offunctional units may be present.

In at least one embodiment, instructions transmitted to processingcluster 2214 constitute a thread. In at least one embodiment, a set ofthreads executing across a set of parallel processing engines is athread group. In at least one embodiment, a thread group executes acommon program on different input data. In at least one embodiment, eachthread within a thread group can be assigned to a different processingengine within a graphics multiprocessor 2234. In at least oneembodiment, a thread group may include fewer threads than a number ofprocessing engines within graphics multiprocessor 2234. In at least oneembodiment, when a thread group includes fewer threads than a number ofprocessing engines, one or more of processing engines may be idle duringcycles in which that thread group is being processed. In at least oneembodiment, a thread group may also include more threads than a numberof processing engines within graphics multiprocessor 2234. In at leastone embodiment, when a thread group includes more threads than number ofprocessing engines within graphics multiprocessor 2234, processing canbe performed over consecutive clock cycles. In at least one embodiment,multiple thread groups can be executed concurrently on a graphicsmultiprocessor 2234.

In at least one embodiment, graphics multiprocessor 2234 includes aninternal cache memory to perform load and store operations. In at leastone embodiment, graphics multiprocessor 2234 can forego an internalcache and use a cache memory (e.g., L1 cache 2248) within processingcluster 2214. In at least one embodiment, each graphics multiprocessor2234 also has access to L2 caches within partition units (e.g.,partition units 2220A-2220N of FIG. 22A) that are shared among allprocessing clusters 2214 and may be used to transfer data betweenthreads. In at least one embodiment, graphics multiprocessor 2234 mayalso access off-chip global memory, which can include one or more oflocal parallel processor memory and/or system memory. In at least oneembodiment, any memory external to parallel processing unit 2202 may beused as global memory. In at least one embodiment, processing cluster2214 includes multiple instances of graphics multiprocessor 2234 and canshare common instructions and data, which may be stored in L1 cache2248.

In at least one embodiment, each processing cluster 2214 may include anMMU 2245 (memory management unit) that is configured to map virtualaddresses into physical addresses. In at least one embodiment, one ormore instances of MMU 2245 may reside within memory interface 2218 ofFIG. 22A. In at least one embodiment, MMU 2245 includes a set of pagetable entries (PTEs) used to map a virtual address to a physical addressof a tile and optionally a cache line index. In at least one embodiment,MMU 2245 may include address translation lookaside buffers (TLB) orcaches that may reside within graphics multiprocessor 2234 or L1 2248cache or processing cluster 2214. In at least one embodiment, a physicaladdress is processed to distribute surface data access locally to allowfor efficient request interleaving among partition units. In at leastone embodiment, a cache line index may be used to determine whether arequest for a cache line is a hit or miss.

In at least one embodiment, a processing cluster 2214 may be configuredsuch that each graphics multiprocessor 2234 is coupled to a texture unit2236 for performing texture mapping operations, e.g., determiningtexture sample positions, reading texture data, and filtering texturedata. In at least one embodiment, texture data is read from an internaltexture L1 cache (not shown) or from an L1 cache within graphicsmultiprocessor 2234 and is fetched from an L2 cache, local parallelprocessor memory, or system memory, as needed. In at least oneembodiment, each graphics multiprocessor 2234 outputs processed tasks todata crossbar 2240 to provide processed task to another processingcluster 2214 for further processing or to store processed task in an L2cache, local parallel processor memory, or system memory via memorycrossbar 2216. In at least one embodiment, a preROP 2242 (pre-rasteroperations unit) is configured to receive data from graphicsmultiprocessor 2234, and direct data to ROP units, which may be locatedwith partition units as described herein (e.g., partition units2220A-2220N of FIG. 22A). In at least one embodiment, preROP 2242 unitcan perform optimizations for color blending, organizing pixel colordata, and performing address translations.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in graphicsprocessing cluster 2214 for inferencing or predicting operations based,at least in part, on weight parameters calculated using neural networktraining operations, neural network functions and/or architectures, orneural network use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 22D shows a graphics multiprocessor 2234 according to at least oneembodiment. In at least one embodiment, graphics multiprocessor 2234couples with pipeline manager 2232 of processing cluster 2214. In atleast one embodiment, graphics multiprocessor 2234 has an executionpipeline including but not limited to an instruction cache 2252, aninstruction unit 2254, an address mapping unit 2256, a register file2258, one or more general purpose graphics processing unit (GPGPU) cores2262, and one or more load/store units 2266. In at least one embodiment,GPGPU cores 2262 and load/store units 2266 are coupled with cache memory2272 and shared memory 2270 via a memory and cache interconnect 2268.

In at least one embodiment, instruction cache 2252 receives a stream ofinstructions to execute from pipeline manager 2232. In at least oneembodiment, instructions are cached in instruction cache 2252 anddispatched for execution by an instruction unit 2254. In at least oneembodiment, instruction unit 2254 can dispatch instructions as threadgroups (e.g., warps), with each thread of thread group assigned to adifferent execution unit within GPGPU cores 2262. In at least oneembodiment, an instruction can access any of a local, shared, or globaladdress space by specifying an address within a unified address space.In at least one embodiment, address mapping unit 2256 can be used totranslate addresses in a unified address space into a distinct memoryaddress that can be accessed by load/store units 2266.

In at least one embodiment, register file 2258 provides a set ofregisters for functional units of graphics multiprocessor 2234. In atleast one embodiment, register file 2258 provides temporary storage foroperands connected to data paths of functional units (e.g., GPGPU cores2262, load/store units 2266) of graphics multiprocessor 2234. In atleast one embodiment, register file 2258 is divided between each offunctional units such that each functional unit is allocated a dedicatedportion of register file 2258. In at least one embodiment, register file2258 is divided between different warps being executed by graphicsmultiprocessor 2234.

In at least one embodiment, GPGPU cores 2262 can each include floatingpoint units (FPUs) and/or integer arithmetic logic units (ALUs) that areused to execute instructions of graphics multiprocessor 2234. In atleast one embodiment, GPGPU cores 2262 can be similar in architecture orcan differ in architecture. In at least one embodiment, a first portionof GPGPU cores 2262 include a single precision FPU and an integer ALUwhile a second portion of GPGPU cores include a double precision FPU. Inat least one embodiment, FPUs can implement IEEE 754-2008 standardfloating point arithmetic or enable variable precision floating pointarithmetic. In at least one embodiment, graphics multiprocessor 2234 canadditionally include one or more fixed function or special functionunits to perform specific functions such as copy rectangle or pixelblending operations. In at least one embodiment, one or more of GPGPUcores 2262 can also include fixed or special function logic.

In at least one embodiment, GPGPU cores 2262 include SIMD logic capableof performing a single instruction on multiple sets of data. In at leastone embodiment, GPGPU cores 2262 can physically execute SIMD4, SIMD8,and SIMD16 instructions and logically execute SIMD1, SIMD2, and SIMD32instructions. In at least one embodiment, SIMD instructions for GPGPUcores can be generated at compile time by a shader compiler orautomatically generated when executing programs written and compiled forsingle program multiple data (SPMD) or SIMT architectures. In at leastone embodiment, multiple threads of a program configured for an SIMTexecution model can executed via a single SIMD instruction. For example,in at least one embodiment, eight SIMT threads that perform same orsimilar operations can be executed in parallel via a single SIMD8 logicunit.

In at least one embodiment, memory and cache interconnect 2268 is aninterconnect network that connects each functional unit of graphicsmultiprocessor 2234 to register file 2258 and to shared memory 2270. Inat least one embodiment, memory and cache interconnect 2268 is acrossbar interconnect that allows load/store unit 2266 to implement loadand store operations between shared memory 2270 and register file 2258.In at least one embodiment, register file 2258 can operate at a samefrequency as GPGPU cores 2262, thus data transfer between GPGPU cores2262 and register file 2258 can have very low latency. In at least oneembodiment, shared memory 2270 can be used to enable communicationbetween threads that execute on functional units within graphicsmultiprocessor 2234. In at least one embodiment, cache memory 2272 canbe used as a data cache for example, to cache texture data communicatedbetween functional units and texture unit 2236. In at least oneembodiment, shared memory 2270 can also be used as a program managedcache. In at least one embodiment, threads executing on GPGPU cores 2262can programmatically store data within shared memory in addition toautomatically cached data that is stored within cache memory 2272.

In at least one embodiment, a parallel processor or GPGPU as describedherein is communicatively coupled to host/processor cores to accelerategraphics operations, machine-learning operations, pattern analysisoperations, and various general purpose GPU (GPGPU) functions. In atleast one embodiment, a GPU may be communicatively coupled to hostprocessor/cores over a bus or other interconnect (e.g., a high-speedinterconnect such as PCIe or NVLink). In at least one embodiment, a GPUmay be integrated on a package or chip as cores and communicativelycoupled to cores over an internal processor bus/interconnect internal toa package or chip. In at least one embodiment, regardless a manner inwhich a GPU is connected, processor cores may allocate work to such GPUin a form of sequences of commands/instructions contained in a workdescriptor. In at least one embodiment, that GPU then uses dedicatedcircuitry/logic for efficiently processing these commands/instructions.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in graphicsmultiprocessor 2234 for inferencing or predicting operations based, atleast in part, on weight parameters calculated using neural networktraining operations, neural network functions and/or architectures, orneural network use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 23 illustrates a multi-GPU computing system 2300, according to atleast one embodiment. In at least one embodiment, multi-GPU computingsystem 2300 can include a processor 2302 coupled to multiple generalpurpose graphics processing units (GPGPUs) 2306A-D via a host interfaceswitch 2304. In at least one embodiment, host interface switch 2304 is aPCI express switch device that couples processor 2302 to a PCI expressbus over which processor 2302 can communicate with GPGPUs 2306A-D. In atleast one embodiment, GPGPUs 2306A-D can interconnect via a set ofhigh-speed point-to-point GPU-to-GPU links 2316. In at least oneembodiment, GPU-to-GPU links 2316 connect to each of GPGPUs 2306A-D viaa dedicated GPU link. In at least one embodiment, P2P GPU links 2316enable direct communication between each of GPGPUs 2306A-D withoutrequiring communication over host interface bus 2304 to which processor2302 is connected. In at least one embodiment, with GPU-to-GPU trafficdirected to P2P GPU links 2316, host interface bus 2304 remainsavailable for system memory access or to communicate with otherinstances of multi-GPU computing system 2300, for example, via one ormore network devices. While in at least one embodiment GPGPUs 2306A-Dconnect to processor 2302 via host interface switch 2304, in at leastone embodiment processor 2302 includes direct support for P2P GPU links2316 and can connect directly to GPGPUs 2306A-D.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in multi-GPUcomputing system 2300 for inferencing or predicting operations based, atleast in part, on weight parameters calculated using neural networktraining operations, neural network functions and/or architectures, orneural network use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 24 is a block diagram of a graphics processor 2400, according to atleast one embodiment. In at least one embodiment, graphics processor2400 includes a ring interconnect 2402, a pipeline front-end 2404, amedia engine 2437, and graphics cores 2480A-2480N. In at least oneembodiment, ring interconnect 2402 couples graphics processor 2400 toother processing units, including other graphics processors or one ormore general-purpose processor cores. In at least one embodiment,graphics processor 2400 is one of many processors integrated within amulti-core processing system.

In at least one embodiment, graphics processor 2400 receives batches ofcommands via ring interconnect 2402. In at least one embodiment,incoming commands are interpreted by a command streamer 2403 in pipelinefront-end 2404. In at least one embodiment, graphics processor 2400includes scalable execution logic to perform 3D geometry processing andmedia processing via graphics core(s) 2480A-2480N. In at least oneembodiment, for 3D geometry processing commands, command streamer 2403supplies commands to geometry pipeline 2436. In at least one embodiment,for at least some media processing commands, command streamer 2403supplies commands to a video front end 2434, which couples with mediaengine 2437. In at least one embodiment, media engine 2437 includes aVideo Quality Engine (VQE) 2430 for video and image post-processing anda multi-format encode/decode (MFX) 2433 engine to providehardware-accelerated media data encoding and decoding. In at least oneembodiment, geometry pipeline 2436 and media engine 2437 each generateexecution threads for thread execution resources provided by at leastone graphics core 2480.

In at least one embodiment, graphics processor 2400 includes scalablethread execution resources featuring graphics cores 2480A-2480N (whichcan be modular and are sometimes referred to as core slices), eachhaving multiple sub-cores 2450A-50N, 2460A-2460N (sometimes referred toas core sub-slices). In at least one embodiment, graphics processor 2400can have any number of graphics cores 2480A. In at least one embodiment,graphics processor 2400 includes a graphics core 2480A having at least afirst sub-core 2450A and a second sub-core 2460A. In at least oneembodiment, graphics processor 2400 is a low power processor with asingle sub-core (e.g., 2450A). In at least one embodiment, graphicsprocessor 2400 includes multiple graphics cores 2480A-2480N, eachincluding a set of first sub-cores 2450A-2450N and a set of secondsub-cores 2460A-2460N. In at least one embodiment, each sub-core infirst sub-cores 2450A-2450N includes at least a first set of executionunits 2452A-2452N and media/texture samplers 2454A-2454N. In at leastone embodiment, each sub-core in second sub-cores 2460A-2460N includesat least a second set of execution units 2462A-2462N and samplers2464A-2464N. In at least one embodiment, each sub-core 2450A-2450N,2460A-2460N shares a set of shared resources 2470A-2470N. In at leastone embodiment, shared resources include shared cache memory and pixeloperation logic.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, inference and/or training logic 915 may be used in graphicsprocessor 2400 for inferencing or predicting operations based, at leastin part, on weight parameters calculated using neural network trainingoperations, neural network functions and/or architectures, or neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 25 is a block diagram illustrating micro-architecture for aprocessor 2500 that may include logic circuits to perform instructions,according to at least one embodiment. In at least one embodiment,processor 2500 may perform instructions, including x86 instructions, ARMinstructions, specialized instructions for application-specificintegrated circuits (ASICs), etc. In at least one embodiment, processor2500 may include registers to store packed data, such as 64-bit wideMMX™ registers in microprocessors enabled with MMX technology from IntelCorporation of Santa Clara, Calif. In at least one embodiment, MMXregisters, available in both integer and floating point forms, mayoperate with packed data elements that accompany single instruction,multiple data (“SIMD”) and streaming SIMD extensions (“SSE”)instructions. In at least one embodiment, 128-bit wide XMM registersrelating to SSE2, SSE3, SSE4, AVX, or beyond (referred to generically as“SSEx”) technology may hold such packed data operands. In at least oneembodiment, processor 2500 may perform instructions to acceleratemachine learning or deep learning algorithms, training, or inferencing.

In at least one embodiment, processor 2500 includes an in-order frontend (“front end”) 2501 to fetch instructions to be executed and prepareinstructions to be used later in a processor pipeline. In at least oneembodiment, front end 2501 may include several units. In at least oneembodiment, an instruction prefetcher 2526 fetches instructions frommemory and feeds instructions to an instruction decoder 2528 which inturn decodes or interprets instructions. For example, in at least oneembodiment, instruction decoder 2528 decodes a received instruction intoone or more operations called “micro-instructions” or “micro-operations”(also called “micro ops” or “uops”) that a machine may execute. In atleast one embodiment, instruction decoder 2528 parses an instructioninto an opcode and corresponding data and control fields that may beused by micro-architecture to perform operations in accordance with atleast one embodiment. In at least one embodiment, a trace cache 2530 mayassemble decoded uops into program ordered sequences or traces in a uopqueue 2534 for execution. In at least one embodiment, when trace cache2530 encounters a complex instruction, a microcode ROM 2532 providesuops needed to complete an operation.

In at least one embodiment, some instructions may be converted into asingle micro-op, whereas others need several micro-ops to complete fulloperation. In at least one embodiment, if more than four micro-ops areneeded to complete an instruction, instruction decoder 2528 may accessmicrocode ROM 2532 to perform that instruction. In at least oneembodiment, an instruction may be decoded into a small number ofmicro-ops for processing at instruction decoder 2528. In at least oneembodiment, an instruction may be stored within microcode ROM 2532should a number of micro-ops be needed to accomplish such operation. Inat least one embodiment, trace cache 2530 refers to an entry pointprogrammable logic array (“PLA”) to determine a correctmicro-instruction pointer for reading microcode sequences to completeone or more instructions from microcode ROM 2532 in accordance with atleast one embodiment. In at least one embodiment, after microcode ROM2532 finishes sequencing micro-ops for an instruction, front end 2501 ofa machine may resume fetching micro-ops from trace cache 2530.

In at least one embodiment, out-of-order execution engine (“out of orderengine”) 2503 may prepare instructions for execution. In at least oneembodiment, out-of-order execution logic has a number of buffers tosmooth out and re-order flow of instructions to optimize performance asthey go down a pipeline and get scheduled for execution. In at least oneembodiment, out-of-order execution engine 2503 includes, withoutlimitation, an allocator/register renamer 2540, a memory uop queue 2542,an integer/floating point uop queue 2544, a memory scheduler 2546, afast scheduler 2502, a slow/general floating point scheduler(“slow/general FP scheduler”) 2504, and a simple floating pointscheduler (“simple FP scheduler”) 2506. In at least one embodiment, fastschedule 2502, slow/general floating point scheduler 2504, and simplefloating point scheduler 2506 are also collectively referred to hereinas “uop schedulers 2502, 2504, 2506.” In at least one embodiment,allocator/register renamer 2540 allocates machine buffers and resourcesthat each uop needs in order to execute. In at least one embodiment,allocator/register renamer 2540 renames logic registers onto entries ina register file. In at least one embodiment, allocator/register renamer2540 also allocates an entry for each uop in one of two uop queues,memory uop queue 2542 for memory operations and integer/floating pointuop queue 2544 for non-memory operations, in front of memory scheduler2546 and uop schedulers 2502, 2504, 2506. In at least one embodiment,uop schedulers 2502, 2504, 2506, determine when a uop is ready toexecute based on readiness of their dependent input register operandsources and availability of execution resources uops need to completetheir operation. In at least one embodiment, fast scheduler 2502 mayschedule on each half of a main clock cycle while slow/general floatingpoint scheduler 2504 and simple floating point scheduler 2506 mayschedule once per main processor clock cycle. In at least oneembodiment, uop schedulers 2502, 2504, 2506 arbitrate for dispatch portsto schedule uops for execution.

In at least one embodiment, execution block 2511 includes, withoutlimitation, an integer register file/bypass network 2508, a floatingpoint register file/bypass network (“FP register file/bypass network”)2510, address generation units (“AGUs”) 2512 and 2514, fast ArithmeticLogic Units (ALUs) (“fast ALUs”) 2516 and 2518, a slow Arithmetic LogicUnit (“slow ALU”) 2520, a floating point ALU (“FP”) 2522, and a floatingpoint move unit (“FP move”) 2524. In at least one embodiment, integerregister file/bypass network 2508 and floating point registerfile/bypass network 2510 are also referred to herein as “register files2508, 2510.” In at least one embodiment, AGUSs 2512 and 2514, fast ALUs2516 and 2518, slow ALU 2520, floating point ALU 2522, and floatingpoint move unit 2524 are also referred to herein as “execution units2512, 2514, 2516, 2518, 2520, 2522, and 2524.” In at least oneembodiment, execution block 2511 may include, without limitation, anynumber (including zero) and type of register files, bypass networks,address generation units, and execution units, in any combination.

In at least one embodiment, register networks 2508, 2510 may be arrangedbetween uop schedulers 2502, 2504, 2506, and execution units 2512, 2514,2516, 2518, 2520, 2522, and 2524. In at least one embodiment, integerregister file/bypass network 2508 performs integer operations. In atleast one embodiment, floating point register file/bypass network 2510performs floating point operations. In at least one embodiment, each ofregister networks 2508, 2510 may include, without limitation, a bypassnetwork that may bypass or forward just completed results that have notyet been written into a register file to new dependent uops. In at leastone embodiment, register networks 2508, 2510 may communicate data witheach other. In at least one embodiment, integer register file/bypassnetwork 2508 may include, without limitation, two separate registerfiles, one register file for a low-order thirty-two bits of data and asecond register file for a high order thirty-two bits of data. In atleast one embodiment, floating point register file/bypass network 2510may include, without limitation, 128-bit wide entries because floatingpoint instructions typically have operands from 64 to 128 bits in width.

In at least one embodiment, execution units 2512, 2514, 2516, 2518,2520, 2522, 2524 may execute instructions. In at least one embodiment,register networks 2508, 2510 store integer and floating point dataoperand values that micro-instructions need to execute. In at least oneembodiment, processor 2500 may include, without limitation, any numberand combination of execution units 2512, 2514, 2516, 2518, 2520, 2522,2524. In at least one embodiment, floating point ALU 2522 and floatingpoint move unit 2524, may execute floating point, MMX, SIMD, AVX andSSE, or other operations, including specialized machine learninginstructions. In at least one embodiment, floating point ALU 2522 mayinclude, without limitation, a 64-bit by 64-bit floating point dividerto execute divide, square root, and remainder micro ops. In at least oneembodiment, instructions involving a floating point value may be handledwith floating point hardware. In at least one embodiment, ALU operationsmay be passed to fast ALUs 2516, 2518. In at least one embodiment, fastALUS 2516, 2518 may execute fast operations with an effective latency ofhalf a clock cycle. In at least one embodiment, most complex integeroperations go to slow ALU 2520 as slow ALU 2520 may include, withoutlimitation, integer execution hardware for long-latency type ofoperations, such as a multiplier, shifts, flag logic, and branchprocessing. In at least one embodiment, memory load/store operations maybe executed by AGUs 2512, 2514. In at least one embodiment, fast ALU2516, fast ALU 2518, and slow ALU 2520 may perform integer operations on64-bit data operands. In at least one embodiment, fast ALU 2516, fastALU 2518, and slow ALU 2520 may be implemented to support a variety ofdata bit sizes including sixteen, thirty-two, 128, 256, etc. In at leastone embodiment, floating point ALU 2522 and floating point move unit2524 may be implemented to support a range of operands having bits ofvarious widths, such as 128-bit wide packed data operands in conjunctionwith SIMD and multimedia instructions.

In at least one embodiment, uop schedulers 2502, 2504, 2506 dispatchdependent operations before a parent load has finished executing. In atleast one embodiment, as uops may be speculatively scheduled andexecuted in processor 2500, processor 2500 may also include logic tohandle memory misses. In at least one embodiment, if a data load missesin a data cache, there may be dependent operations in flight in apipeline that have left a scheduler with temporarily incorrect data. Inat least one embodiment, a replay mechanism tracks and re-executesinstructions that use incorrect data. In at least one embodiment,dependent operations might need to be replayed and independent ones maybe allowed to complete. In at least one embodiment, schedulers and areplay mechanism of at least one embodiment of a processor may also bedesigned to catch instruction sequences for text string comparisonoperations.

In at least one embodiment, “registers” may refer to on-board processorstorage locations that may be used as part of instructions to identifyoperands. In at least one embodiment, registers may be those that may beusable from outside of a processor (from a programmer's perspective). Inat least one embodiment, registers might not be limited to a particulartype of circuit. Rather, in at least one embodiment, a register maystore data, provide data, and perform functions described herein. In atleast one embodiment, registers described herein may be implemented bycircuitry within a processor using any number of different techniques,such as dedicated physical registers, dynamically allocated physicalregisters using register renaming, combinations of dedicated anddynamically allocated physical registers, etc. In at least oneembodiment, integer registers store 32-bit integer data. A register fileof at least one embodiment also contains eight multimedia SIMD registersfor packed data.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment portions or all of inference and/or training logic 915 may beincorporated into execution block 2511 and other memory or registersshown or not shown. For example, in at least one embodiment, trainingand/or inferencing techniques described herein may use one or more ofALUs illustrated in execution block 2511. Moreover, weight parametersmay be stored in on-chip or off-chip memory and/or registers (shown ornot shown) that configure ALUs of execution block 2511 to perform one ormore machine learning algorithms, neural network architectures, usecases, or training techniques described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 26 illustrates a deep learning application processor 2600,according to at least one embodiment. In at least one embodiment, deeplearning application processor 2600 uses instructions that, if executedby deep learning application processor 2600, cause deep learningapplication processor 2600 to perform some or all of processes andtechniques described throughout this disclosure. In at least oneembodiment, deep learning application processor 2600 is anapplication-specific integrated circuit (ASIC). In at least oneembodiment, application processor 2600 performs matrix multiplyoperations either “hard-wired” into hardware as a result of performingone or more instructions or both. In at least one embodiment, deeplearning application processor 2600 includes, without limitation,processing clusters 2610(1)-2610(12), Inter-Chip Links (“ICLs”)2620(1)-2620(12), Inter-Chip Controllers (“ICCs”) 2630(1)-2630(2),high-bandwidth memory second generation (“HBM2”) 2640(1)-2640(4), memorycontrollers (“Mem Ctrlrs”) 2642(1)-2642(4), high bandwidth memoryphysical layer (“HBM PHY”) 2644(1)-2644(4), a management-controllercentral processing unit (“management-controller CPU”) 2650, a SerialPeripheral Interface, Inter-Integrated Circuit, and General PurposeInput/Output block (“SPI, I²C, GPIO”) 2660, a peripheral componentinterconnect express controller and direct memory access block (“PCIeController and DMA”) 2670, and a sixteen-lane peripheral componentinterconnect express port (“PCI Express x 16”) 2680.

In at least one embodiment, processing clusters 2610 may perform deeplearning operations, including inference or prediction operations basedon weight parameters calculated one or more training techniques,including those described herein. In at least one embodiment, eachprocessing cluster 2610 may include, without limitation, any number andtype of processors. In at least one embodiment, deep learningapplication processor 2600 may include any number and type of processingclusters 2600. In at least one embodiment, Inter-Chip Links 2620 arebi-directional. In at least one embodiment, Inter-Chip Links 2620 andInter-Chip Controllers 2630 enable multiple deep learning applicationprocessors 2600 to exchange information, including activationinformation resulting from performing one or more machine learningalgorithms embodied in one or more neural networks. In at least oneembodiment, deep learning application processor 2600 may include anynumber (including zero) and type of ICLs 2620 and ICCs 2630.

In at least one embodiment, HBM2s 2640 provide a total of 32 Gigabytes(GB) of memory. In at least one embodiment, HBM2 2640(i) is associatedwith both memory controller 2642(i) and HBM PHY 2644(i) where “i” is anarbitrary integer. In at least one embodiment, any number of HBM2s 2640may provide any type and total amount of high bandwidth memory and maybe associated with any number (including zero) and type of memorycontrollers 2642 and HBM PHYs 2644. In at least one embodiment, SPI,I²C, GPIO 2660, PCIe Controller and DMA 2670, and/or PCIe 2680 may bereplaced with any number and type of blocks that enable any number andtype of communication standards in any technically feasible fashion.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, deep learning application processor is used to train amachine learning model, such as a neural network, to predict or inferinformation provided to deep learning application processor 2600. In atleast one embodiment, deep learning application processor 2600 is usedto infer or predict information based on a trained machine learningmodel (e.g., neural network) that has been trained by another processoror system or by deep learning application processor 2600. In at leastone embodiment, processor 2600 may be used to perform one or more neuralnetwork use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 27 is a block diagram of a neuromorphic processor 2700, accordingto at least one embodiment. In at least one embodiment, neuromorphicprocessor 2700 may receive one or more inputs from sources external toneuromorphic processor 2700. In at least one embodiment, these inputsmay be transmitted to one or more neurons 2702 within neuromorphicprocessor 2700. In at least one embodiment, neurons 2702 and componentsthereof may be implemented using circuitry or logic, including one ormore arithmetic logic units (ALUs). In at least one embodiment,neuromorphic processor 2700 may include, without limitation, thousandsor millions of instances of neurons 2702, but any suitable number ofneurons 2702 may be used. In at least one embodiment, each instance ofneuron 2702 may include a neuron input 2704 and a neuron output 2706. Inat least one embodiment, neurons 2702 may generate outputs that may betransmitted to inputs of other instances of neurons 2702. For example,in at least one embodiment, neuron inputs 2704 and neuron outputs 2706may be interconnected via synapses 2708.

In at least one embodiment, neurons 2702 and synapses 2708 may beinterconnected such that neuromorphic processor 2700 operates to processor analyze information received by neuromorphic processor 2700. In atleast one embodiment, neurons 2702 may transmit an output pulse (or“fire” or “spike”) when inputs received through neuron input 2704 exceeda threshold. In at least one embodiment, neurons 2702 may sum orintegrate signals received at neuron inputs 2704. For example, in atleast one embodiment, neurons 2702 may be implemented as leakyintegrate-and-fire neurons, wherein if a sum (referred to as a “membranepotential”) exceeds a threshold value, neuron 2702 may generate anoutput (or “fire”) using a transfer function such as a sigmoid orthreshold function. In at least one embodiment, a leakyintegrate-and-fire neuron may sum signals received at neuron inputs 2704into a membrane potential and may also apply a decay factor (or leak) toreduce a membrane potential. In at least one embodiment, a leakyintegrate-and-fire neuron may fire if multiple input signals arereceived at neuron inputs 2704 rapidly enough to exceed a thresholdvalue (i.e., before a membrane potential decays too low to fire). In atleast one embodiment, neurons 2702 may be implemented using circuits orlogic that receive inputs, integrate inputs into a membrane potential,and decay a membrane potential. In at least one embodiment, inputs maybe averaged, or any other suitable transfer function may be used.Furthermore, in at least one embodiment, neurons 2702 may include,without limitation, comparator circuits or logic that generate an outputspike at neuron output 2706 when result of applying a transfer functionto neuron input 2704 exceeds a threshold. In at least one embodiment,once neuron 2702 fires, it may disregard previously received inputinformation by, for example, resetting a membrane potential to 0 oranother suitable default value. In at least one embodiment, oncemembrane potential is reset to 0, neuron 2702 may resume normaloperation after a suitable period of time (or refractory period).

In at least one embodiment, neurons 2702 may be interconnected throughsynapses 2708. In at least one embodiment, synapses 2708 may operate totransmit signals from an output of a first neuron 2702 to an input of asecond neuron 2702. In at least one embodiment, neurons 2702 maytransmit information over more than one instance of synapse 2708. In atleast one embodiment, one or more instances of neuron output 2706 may beconnected, via an instance of synapse 2708, to an instance of neuroninput 2704 in same neuron 2702. In at least one embodiment, an instanceof neuron 2702 generating an output to be transmitted over an instanceof synapse 2708 may be referred to as a “pre-synaptic neuron” withrespect to that instance of synapse 2708. In at least one embodiment, aninstance of neuron 2702 receiving an input transmitted over an instanceof synapse 2708 may be referred to as a “post-synaptic neuron” withrespect to that instance of synapse 2708. Because an instance of neuron2702 may receive inputs from one or more instances of synapse 2708, andmay also transmit outputs over one or more instances of synapse 2708, asingle instance of neuron 2702 may therefore be both a “pre-synapticneuron” and “post-synaptic neuron,” with respect to various instances ofsynapses 2708, in at least one embodiment.

In at least one embodiment, neurons 2702 may be organized into one ormore layers. In at least one embodiment, each instance of neuron 2702may have one neuron output 2706 that may fan out through one or moresynapses 2708 to one or more neuron inputs 2704. In at least oneembodiment, neuron outputs 2706 of neurons 2702 in a first layer 2710may be connected to neuron inputs 2704 of neurons 2702 in a second layer2712. In at least one embodiment, layer 2710 may be referred to as a“feed-forward layer.” In at least one embodiment, each instance ofneuron 2702 in an instance of first layer 2710 may fan out to eachinstance of neuron 2702 in second layer 2712. In at least oneembodiment, first layer 2710 may be referred to as a “fully connectedfeed-forward layer.” In at least one embodiment, each instance of neuron2702 in an instance of second layer 2712 may fan out to fewer than allinstances of neuron 2702 in a third layer 2714. In at least oneembodiment, second layer 2712 may be referred to as a “sparselyconnected feed-forward layer.” In at least one embodiment, neurons 2702in second layer 2712 may fan out to neurons 2702 in multiple otherlayers, including to neurons 2702 also in second layer 2712. In at leastone embodiment, second layer 2712 may be referred to as a “recurrentlayer.” In at least one embodiment, neuromorphic processor 2700 mayinclude, without limitation, any suitable combination of recurrentlayers and feed-forward layers, including, without limitation, bothsparsely connected feed-forward layers and fully connected feed-forwardlayers.

In at least one embodiment, neuromorphic processor 2700 may include,without limitation, a reconfigurable interconnect architecture ordedicated hard-wired interconnects to connect synapse 2708 to neurons2702. In at least one embodiment, neuromorphic processor 2700 mayinclude, without limitation, circuitry or logic that allows synapses tobe allocated to different neurons 2702 as needed based on neural networktopology and neuron fan-in/out. For example, in at least one embodiment,synapses 2708 may be connected to neurons 2702 using an interconnectfabric, such as network-on-chip, or with dedicated connections. In atleast one embodiment, synapse interconnections and components thereofmay be implemented using circuitry or logic.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 28 is a block diagram of a processing system, according to at leastone embodiment. In at least one embodiment, system 2800 includes one ormore processors 2802 and one or more graphics processors 2808, and maybe a single processor desktop system, a multiprocessor workstationsystem, or a server system having a large number of processors 2802 orprocessor cores 2807. In at least one embodiment, system 2800 is aprocessing platform incorporated within a system-on-a-chip (SoC)integrated circuit for use in mobile, handheld, or embedded devices.

In at least one embodiment, system 2800 can include, or be incorporatedwithin a server-based gaming platform, a game console, including a gameand media console, a mobile gaming console, a handheld game console, oran online game console. In at least one embodiment, system 2800 is amobile phone, a smart phone, a tablet computing device or a mobileInternet device. In at least one embodiment, processing system 2800 canalso include, couple with, or be integrated within a wearable device,such as a smart watch wearable device, a smart eyewear device, anaugmented reality device, or a virtual reality device. In at least oneembodiment, processing system 2800 is a television or set top box devicehaving one or more processors 2802 and a graphical interface generatedby one or more graphics processors 2808.

In at least one embodiment, one or more processors 2802 each include oneor more processor cores 2807 to process instructions which, whenexecuted, perform operations for system and user software. In at leastone embodiment, each of one or more processor cores 2807 is configuredto process a specific instruction sequence 2809. In at least oneembodiment, instruction sequence 2809 may facilitate Complex InstructionSet Computing (CISC), Reduced Instruction Set Computing (RISC), orcomputing via a Very Long Instruction Word (VLIW). In at least oneembodiment, processor cores 2807 may each process a differentinstruction sequence 2809, which may include instructions to facilitateemulation of other instruction sequences. In at least one embodiment,processor core 2807 may also include other processing devices, such aDigital Signal Processor (DSP).

In at least one embodiment, processor 2802 includes a cache memory 2804.In at least one embodiment, processor 2802 can have a single internalcache or multiple levels of internal cache. In at least one embodiment,cache memory is shared among various components of processor 2802. In atleast one embodiment, processor 2802 also uses an external cache (e.g.,a Level-3 (L3) cache or Last Level Cache (LLC)) (not shown), which maybe shared among processor cores 2807 using known cache coherencytechniques. In at least one embodiment, a register file 2806 isadditionally included in processor 2802, which may include differenttypes of registers for storing different types of data (e.g., integerregisters, floating point registers, status registers, and aninstruction pointer register). In at least one embodiment, register file2806 may include general-purpose registers or other registers.

In at least one embodiment, one or more processor(s) 2802 are coupledwith one or more interface bus(es) 2810 to transmit communicationsignals such as address, data, or control signals between processor 2802and other components in system 2800. In at least one embodiment,interface bus 2810 can be a processor bus, such as a version of a DirectMedia Interface (DMI) bus. In at least one embodiment, interface bus2810 is not limited to a DMI bus, and may include one or more PeripheralComponent Interconnect buses (e.g., PCI, PCI Express), memory busses, orother types of interface busses. In at least one embodiment processor(s)2802 include an integrated memory controller 2816 and a platformcontroller hub 2830. In at least one embodiment, memory controller 2816facilitates communication between a memory device and other componentsof system 2800, while platform controller hub (PCH) 2830 providesconnections to I/O devices via a local I/O bus.

In at least one embodiment, a memory device 2820 can be a dynamic randomaccess memory (DRAM) device, a static random access memory (SRAM)device, flash memory device, phase-change memory device, or some othermemory device having suitable performance to serve as process memory. Inat least one embodiment, memory device 2820 can operate as system memoryfor system 2800, to store data 2822 and instructions 2821 for use whenone or more processors 2802 executes an application or process. In atleast one embodiment, memory controller 2816 also couples with anoptional external graphics processor 2812, which may communicate withone or more graphics processors 2808 in processors 2802 to performgraphics and media operations. In at least one embodiment, a displaydevice 2811 can connect to processor(s) 2802. In at least oneembodiment, display device 2811 can include one or more of an internaldisplay device, as in a mobile electronic device or a laptop device, oran external display device attached via a display interface (e.g.,DisplayPort, etc.). In at least one embodiment, display device 2811 caninclude a head mounted display (HMD) such as a stereoscopic displaydevice for use in virtual reality (VR) applications or augmented reality(AR) applications.

In at least one embodiment, platform controller hub 2830 enablesperipherals to connect to memory device 2820 and processor 2802 via ahigh-speed I/O bus. In at least one embodiment, I/O peripherals include,but are not limited to, an audio controller 2846, a network controller2834, a firmware interface 2828, a wireless transceiver 2826, touchsensors 2825, a data storage device 2824 (e.g., hard disk drive, flashmemory, etc.). In at least one embodiment, data storage device 2824 canconnect via a storage interface (e.g., SATA) or via a peripheral bus,such as a Peripheral Component Interconnect bus (e.g., PCI, PCIExpress). In at least one embodiment, touch sensors 2825 can includetouch screen sensors, pressure sensors, or fingerprint sensors. In atleast one embodiment, wireless transceiver 2826 can be a Wi-Fitransceiver, a Bluetooth transceiver, or a mobile network transceiversuch as a 3G, 4G, or Long Term Evolution (LTE) transceiver. In at leastone embodiment, firmware interface 2828 enables communication withsystem firmware, and can be, for example, a unified extensible firmwareinterface (UEFI). In at least one embodiment, network controller 2834can enable a network connection to a wired network. In at least oneembodiment, a high-performance network controller (not shown) coupleswith interface bus 2810. In at least one embodiment, audio controller2846 is a multi-channel high definition audio controller. In at leastone embodiment, system 2800 includes an optional legacy I/O controller2840 for coupling legacy (e.g., Personal System 2 (PS/2)) devices tosystem 2800. In at least one embodiment, platform controller hub 2830can also connect to one or more Universal Serial Bus (USB) controllers2842 connect input devices, such as keyboard and mouse 2843combinations, a camera 2844, or other USB input devices.

In at least one embodiment, an instance of memory controller 2816 andplatform controller hub 2830 may be integrated into a discreet externalgraphics processor, such as external graphics processor 2812. In atleast one embodiment, platform controller hub 2830 and/or memorycontroller 2816 may be external to one or more processor(s) 2802. Forexample, in at least one embodiment, system 2800 can include an externalmemory controller 2816 and platform controller hub 2830, which may beconfigured as a memory controller hub and peripheral controller hubwithin a system chipset that is in communication with processor(s) 2802.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment portions or all of inference and/or training logic 915 may beincorporated into graphics processor 2800. For example, in at least oneembodiment, training and/or inferencing techniques described herein mayuse one or more of ALUs embodied in a 3D pipeline. Moreover, in at leastone embodiment, inferencing and/or training operations described hereinmay be done using logic other than logic illustrated in FIG. 9A or 9B.In at least one embodiment, weight parameters may be stored in on-chipor off-chip memory and/or registers (shown or not shown) that configureALUs of graphics processor 2800 to perform one or more machine learningalgorithms, neural network architectures, use cases, or trainingtechniques described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 29 is a block diagram of a processor 2900 having one or moreprocessor cores 2902A-2902N, an integrated memory controller 2914, andan integrated graphics processor 2908, according to at least oneembodiment. In at least one embodiment, processor 2900 can includeadditional cores up to and including additional core 2902N representedby dashed lined boxes. In at least one embodiment, each of processorcores 2902A-2902N includes one or more internal cache units 2904A-2904N.In at least one embodiment, each processor core also has access to oneor more shared cached units 2906.

In at least one embodiment, internal cache units 2904A-2904N and sharedcache units 2906 represent a cache memory hierarchy within processor2900. In at least one embodiment, cache memory units 2904A-2904N mayinclude at least one level of instruction and data cache within eachprocessor core and one or more levels of shared mid-level cache, such asa Level 2 (L2), Level 3 (L3), Level 4 (L4), or other levels of cache,where a highest level of cache before external memory is classified asan LLC. In at least one embodiment, cache coherency logic maintainscoherency between various cache units 2906 and 2904A-2904N.

In at least one embodiment, processor 2900 may also include a set of oneor more bus controller units 2916 and a system agent core 2910. In atleast one embodiment, bus controller units 2916 manage a set ofperipheral buses, such as one or more PCI or PCI express busses. In atleast one embodiment, system agent core 2910 provides managementfunctionality for various processor components. In at least oneembodiment, system agent core 2910 includes one or more integratedmemory controllers 2914 to manage access to various external memorydevices (not shown).

In at least one embodiment, one or more of processor cores 2902A-2902Ninclude support for simultaneous multi-threading. In at least oneembodiment, system agent core 2910 includes components for coordinatingand operating cores 2902A-2902N during multi-threaded processing. In atleast one embodiment, system agent core 2910 may additionally include apower control unit (PCU), which includes logic and components toregulate one or more power states of processor cores 2902A-2902N andgraphics processor 2908.

In at least one embodiment, processor 2900 additionally includesgraphics processor 2908 to execute graphics processing operations. In atleast one embodiment, graphics processor 2908 couples with shared cacheunits 2906, and system agent core 2910, including one or more integratedmemory controllers 2914. In at least one embodiment, system agent core2910 also includes a display controller 2911 to drive graphics processoroutput to one or more coupled displays. In at least one embodiment,display controller 2911 may also be a separate module coupled withgraphics processor 2908 via at least one interconnect, or may beintegrated within graphics processor 2908.

In at least one embodiment, a ring-based interconnect unit 2912 is usedto couple internal components of processor 2900. In at least oneembodiment, an alternative interconnect unit may be used, such as apoint-to-point interconnect, a switched interconnect, or othertechniques. In at least one embodiment, graphics processor 2908 coupleswith ring interconnect 2912 via an I/O link 2913.

In at least one embodiment, I/O link 2913 represents at least one ofmultiple varieties of I/O interconnects, including an on package I/Ointerconnect which facilitates communication between various processorcomponents and a high-performance embedded memory module 2918, such asan eDRAM module. In at least one embodiment, each of processor cores2902A-2902N and graphics processor 2908 use embedded memory module 2918as a shared Last Level Cache.

In at least one embodiment, processor cores 2902A-2902N are homogeneouscores executing a common instruction set architecture. In at least oneembodiment, processor cores 2902A-2902N are heterogeneous in terms ofinstruction set architecture (ISA), where one or more of processor cores2902A-2902N execute a common instruction set, while one or more othercores of processor cores 2902A-2902N executes a subset of a commoninstruction set or a different instruction set. In at least oneembodiment, processor cores 2902A-2902N are heterogeneous in terms ofmicroarchitecture, where one or more cores having a relatively higherpower consumption couple with one or more power cores having a lowerpower consumption. In at least one embodiment, processor 2900 can beimplemented on one or more chips or as an SoC integrated circuit.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment portions or all of inference and/or training logic 915 may beincorporated into graphics processor 2910. For example, in at least oneembodiment, training and/or inferencing techniques described herein mayuse one or more of ALUs embodied in a 3D pipeline, graphics core(s)2902, shared function logic, or other logic in FIG. 29. Moreover, in atleast one embodiment, inferencing and/or training operations describedherein may be done using logic other than logic illustrated in FIG. 9Aor 9B. In at least one embodiment, weight parameters may be stored inon-chip or off-chip memory and/or registers (shown or not shown) thatconfigure ALUs of processor 2900 to perform one or more machine learningalgorithms, neural network architectures, use cases, or trainingtechniques described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 30 is a block diagram of a graphics processor 3000, which may be adiscrete graphics processing unit, or may be a graphics processorintegrated with a plurality of processing cores. In at least oneembodiment, graphics processor 3000 communicates via a memory mapped I/Ointerface to registers on graphics processor 3000 and with commandsplaced into memory. In at least one embodiment, graphics processor 3000includes a memory interface 3014 to access memory. In at least oneembodiment, memory interface 3014 is an interface to local memory, oneor more internal caches, one or more shared external caches, and/or tosystem memory.

In at least one embodiment, graphics processor 3000 also includes adisplay controller 3002 to drive display output data to a display device3020. In at least one embodiment, display controller 3002 includeshardware for one or more overlay planes for display device 3020 andcomposition of multiple layers of video or user interface elements. Inat least one embodiment, display device 3020 can be an internal orexternal display device. In at least one embodiment, display device 3020is a head mounted display device, such as a virtual reality (VR) displaydevice or an augmented reality (AR) display device. In at least oneembodiment, graphics processor 3000 includes a video codec engine 3006to encode, decode, or transcode media to, from, or between one or moremedia encoding formats, including, but not limited to Moving PictureExperts Group (MPEG) formats such as MPEG-2, Advanced Video Coding (AVC)formats such as H.264/MPEG-4 AVC, as well as the Society of MotionPicture & Television Engineers (SMPTE) 421M/VC-1, and Joint PhotographicExperts Group (JPEG) formats such as JPEG, and Motion JPEG (MJPEG)formats.

In at least one embodiment, graphics processor 3000 includes a blockimage transfer (BLIT) engine 3004 to perform two-dimensional (2D)rasterizer operations including, for example, bit-boundary blocktransfers. However, in at least one embodiment, 2D graphics operationsare performed using one or more components of a graphics processingengine (GPE) 3010. In at least one embodiment, GPE 3010 is a computeengine for performing graphics operations, including three-dimensional(3D) graphics operations and media operations.

In at least one embodiment, GPE 3010 includes a 3D pipeline 3012 forperforming 3D operations, such as rendering three-dimensional images andscenes using processing functions that act upon 3D primitive shapes(e.g., rectangle, triangle, etc.). In at least one embodiment, 3Dpipeline 3012 includes programmable and fixed function elements thatperform various tasks and/or spawn execution threads to a 3D/Mediasub-system 3015. While 3D pipeline 3012 can be used to perform mediaoperations, in at least one embodiment, GPE 3010 also includes a mediapipeline 3016 that is used to perform media operations, such as videopost-processing and image enhancement.

In at least one embodiment, media pipeline 3016 includes fixed functionor programmable logic units to perform one or more specialized mediaoperations, such as video decode acceleration, video de-interlacing, andvideo encode acceleration in place of, or on behalf of, video codecengine 3006. In at least one embodiment, media pipeline 3016additionally includes a thread spawning unit to spawn threads forexecution on 3D/Media sub-system 3015. In at least one embodiment,spawned threads perform computations for media operations on one or moregraphics execution units included in 3D/Media sub-system 3015.

In at least one embodiment, 3D/Media subsystem 3015 includes logic forexecuting threads spawned by 3D pipeline 3012 and media pipeline 3016.In at least one embodiment, 3D pipeline 3012 and media pipeline 3016send thread execution requests to 3D/Media subsystem 3015, whichincludes thread dispatch logic for arbitrating and dispatching variousrequests to available thread execution resources. In at least oneembodiment, execution resources include an array of graphics executionunits to process 3D and media threads. In at least one embodiment,3D/Media subsystem 3015 includes one or more internal caches for threadinstructions and data. In at least one embodiment, subsystem 3015 alsoincludes shared memory, including registers and addressable memory, toshare data between threads and to store output data.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment portions or all of inference and/or training logic 915 may beincorporated into graphics processor 3000. For example, in at least oneembodiment, training and/or inferencing techniques described herein mayuse one or more of ALUs embodied in 3D pipeline 3012. Moreover, in atleast one embodiment, inferencing and/or training operations describedherein may be done using logic other than logic illustrated in FIG. 9Aor 9B. In at least one embodiment, weight parameters may be stored inon-chip or off-chip memory and/or registers (shown or not shown) thatconfigure ALUs of graphics processor 3000 to perform one or more machinelearning algorithms, neural network architectures, use cases, ortraining techniques described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 31 is a block diagram of a graphics processing engine 3110 of agraphics processor in accordance with at least one embodiment. In atleast one embodiment, graphics processing engine (GPE) 3110 is a versionof GPE 3010 shown in FIG. 30. In at least one embodiment, a mediapipeline 3116 is optional and may not be explicitly included within GPE3110. In at least one embodiment, a separate media and/or imageprocessor is coupled to GPE 3110.

In at least one embodiment, GPE 3110 is coupled to or includes a commandstreamer 3103, which provides a command stream to a 3D pipeline 3112and/or media pipeline 3116. In at least one embodiment, command streamer3103 is coupled to memory, which can be system memory, or one or more ofinternal cache memory and shared cache memory. In at least oneembodiment, command streamer 3103 receives commands from memory andsends commands to 3D pipeline 3112 and/or media pipeline 3116. In atleast one embodiment, commands are instructions, primitives, ormicro-operations fetched from a ring buffer, which stores commands for3D pipeline 3112 and media pipeline 3116. In at least one embodiment, aring buffer can additionally include batch command buffers storingbatches of multiple commands. In at least one embodiment, commands for3D pipeline 3112 can also include references to data stored in memory,such as, but not limited to, vertex and geometry data for 3D pipeline3112 and/or image data and memory objects for media pipeline 3116. In atleast one embodiment, 3D pipeline 3112 and media pipeline 3116 processcommands and data by performing operations or by dispatching one or moreexecution threads to a graphics core array 3114. In at least oneembodiment, graphics core array 3114 includes one or more blocks ofgraphics cores (e.g., graphics core(s) 3115A, graphics core(s) 3115B),each block including one or more graphics cores. In at least oneembodiment, each graphics core includes a set of graphics executionresources that includes general-purpose and graphics specific executionlogic to perform graphics and compute operations, as well as fixedfunction texture processing and/or machine learning and artificialintelligence acceleration logic, including inference and/or traininglogic 915 in FIG. 9A and FIG. 9B.

In at least one embodiment, 3D pipeline 3112 includes fixed function andprogrammable logic to process one or more shader programs, such asvertex shaders, geometry shaders, pixel shaders, fragment shaders,compute shaders, or other shader programs, by processing instructionsand dispatching execution threads to graphics core array 3114. In atleast one embodiment, graphics core array 3114 provides a unified blockof execution resources for use in processing shader programs. In atleast one embodiment, a multi-purpose execution logic (e.g., executionunits) within graphics core(s) 3115A-3115B of graphic core array 3114includes support for various 3D API shader languages and can executemultiple simultaneous execution threads associated with multipleshaders.

In at least one embodiment, graphics core array 3114 also includesexecution logic to perform media functions, such as video and/or imageprocessing. In at least one embodiment, execution units additionallyinclude general-purpose logic that is programmable to perform parallelgeneral-purpose computational operations, in addition to graphicsprocessing operations.

In at least one embodiment, output data generated by threads executingon graphics core array 3114 can output data to memory in a unifiedreturn buffer (URB) 3118. In at least one embodiment, URB 3118 can storedata for multiple threads. In at least one embodiment, URB 3118 may beused to send data between different threads executing on graphics corearray 3114. In at least one embodiment, URB 3118 may additionally beused for synchronization between threads on graphics core array 3114 andfixed function logic within shared function logic 3120.

In at least one embodiment, graphics core array 3114 is scalable, suchthat graphics core array 3114 includes a variable number of graphicscores, each having a variable number of execution units based on atarget power and performance level of GPE 3110. In at least oneembodiment, execution resources are dynamically scalable, such thatexecution resources may be enabled or disabled as needed.

In at least one embodiment, graphics core array 3114 is coupled toshared function logic 3120 that includes multiple resources that areshared between graphics cores in graphics core array 3114. In at leastone embodiment, shared functions performed by shared function logic 3120are embodied in hardware logic units that provide specializedsupplemental functionality to graphics core array 3114. In at least oneembodiment, shared function logic 3120 includes but is not limited to asampler unit 3121, a math unit 3122, and inter-thread communication(ITC) logic 3123. In at least one embodiment, one or more cache(s) 3125are included in, or coupled to, shared function logic 3120.

In at least one embodiment, a shared function is used if demand for aspecialized function is insufficient for inclusion within graphics corearray 3114. In at least one embodiment, a single instantiation of aspecialized function is used in shared function logic 3120 and sharedamong other execution resources within graphics core array 3114. In atleast one embodiment, specific shared functions within shared functionlogic 3120 that are used extensively by graphics core array 3114 may beincluded within shared function logic 3416 within graphics core array3114. In at least one embodiment, shared function logic 3416 withingraphics core array 3114 can include some or all logic within sharedfunction logic 3120. In at least one embodiment, all logic elementswithin shared function logic 3120 may be duplicated within sharedfunction logic 3126 of graphics core array 3114. In at least oneembodiment, shared function logic 3120 is excluded in favor of sharedfunction logic 3126 within graphics core array 3114.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment portions or all of inference and/or training logic 915 may beincorporated into graphics processor 3110. For example, in at least oneembodiment, training and/or inferencing techniques described herein mayuse one or more of ALUs embodied in 3D pipeline 3112, graphics core(s)3115, shared function logic 3126, shared function logic 3120, or otherlogic in FIG. 31. Moreover, in at least one embodiment, inferencingand/or training operations described herein may be done using logicother than logic illustrated in FIG. 9A or 9B. In at least oneembodiment, weight parameters may be stored in on-chip or off-chipmemory and/or registers (shown or not shown) that configure ALUs ofgraphics processor 3110 to perform one or more machine learningalgorithms, neural network architectures, use cases, or trainingtechniques described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 32 is a block diagram of hardware logic of a graphics processorcore 3200, according to at least one embodiment described herein. In atleast one embodiment, graphics processor core 3200 is included within agraphics core array. In at least one embodiment, graphics processor core3200, sometimes referred to as a core slice, can be one or multiplegraphics cores within a modular graphics processor. In at least oneembodiment, graphics processor core 3200 is exemplary of one graphicscore slice, and a graphics processor as described herein may includemultiple graphics core slices based on target power and performanceenvelopes. In at least one embodiment, each graphics core 3200 caninclude a fixed function block 3230 coupled with multiple sub-cores3201A-3201F, also referred to as sub-slices, that include modular blocksof general-purpose and fixed function logic.

In at least one embodiment, fixed function block 3230 includes ageometry and fixed function pipeline 3236 that can be shared by allsub-cores in graphics processor 3200, for example, in lower performanceand/or lower power graphics processor implementations. In at least oneembodiment, geometry and fixed function pipeline 3236 includes a 3Dfixed function pipeline, a video front-end unit, a thread spawner andthread dispatcher, and a unified return buffer manager, which managesunified return buffers.

In at least one embodiment, fixed function block 3230 also includes agraphics SoC interface 3237, a graphics microcontroller 3238, and amedia pipeline 3239. In at least one embodiment, graphics SoC interface3237 provides an interface between graphics core 3200 and otherprocessor cores within a system on a chip integrated circuit. In atleast one embodiment, graphics microcontroller 3238 is a programmablesub-processor that is configurable to manage various functions ofgraphics processor 3200, including thread dispatch, scheduling, andpre-emption. In at least one embodiment, media pipeline 3239 includeslogic to facilitate decoding, encoding, pre-processing, and/orpost-processing of multimedia data, including image and video data. Inat least one embodiment, media pipeline 3239 implements media operationsvia requests to compute or sampling logic within sub-cores 3201A-3201F.

In at least one embodiment, SoC interface 3237 enables graphics core3200 to communicate with general-purpose application processor cores(e.g., CPUs) and/or other components within an SoC, including memoryhierarchy elements such as a shared last level cache memory, system RAM,and/or embedded on-chip or on-package DRAM. In at least one embodiment,SoC interface 3237 can also enable communication with fixed functiondevices within an SoC, such as camera imaging pipelines, and enables useof and/or implements global memory atomics that may be shared betweengraphics core 3200 and CPUs within an SoC. In at least one embodiment,graphics SoC interface 3237 can also implement power management controlsfor graphics processor core 3200 and enable an interface between a clockdomain of graphics processor core 3200 and other clock domains within anSoC. In at least one embodiment, SoC interface 3237 enables receipt ofcommand buffers from a command streamer and global thread dispatcherthat are configured to provide commands and instructions to each of oneor more graphics cores within a graphics processor. In at least oneembodiment, commands and instructions can be dispatched to mediapipeline 3239, when media operations are to be performed, or a geometryand fixed function pipeline (e.g., geometry and fixed function pipeline3236, and/or a geometry and fixed function pipeline 3214) when graphicsprocessing operations are to be performed.

In at least one embodiment, graphics microcontroller 3238 can beconfigured to perform various scheduling and management tasks forgraphics core 3200. In at least one embodiment, graphics microcontroller3238 can perform graphics and/or compute workload scheduling on variousgraphics parallel engines within execution unit (EU) arrays 3202A-3202F,3204A-3204F within sub-cores 3201A-3201F. In at least one embodiment,host software executing on a CPU core of an SoC including graphics core3200 can submit workloads to one of multiple graphic processor paths,which invokes a scheduling operation on an appropriate graphics engine.In at least one embodiment, scheduling operations include determiningwhich workload to run next, submitting a workload to a command streamer,pre-empting existing workloads running on an engine, monitoring progressof a workload, and notifying host software when a workload is complete.In at least one embodiment, graphics microcontroller 3238 can alsofacilitate low-power or idle states for graphics core 3200, providinggraphics core 3200 with an ability to save and restore registers withingraphics core 3200 across low-power state transitions independently froman operating system and/or graphics driver software on a system.

In at least one embodiment, graphics core 3200 may have greater than orfewer than illustrated sub-cores 3201A-3201F, up to N modular sub-cores.For each set of N sub-cores, in at least one embodiment, graphics core3200 can also include shared function logic 3210, shared and/or cachememory 3212, geometry/fixed function pipeline 3214, as well asadditional fixed function logic 3216 to accelerate various graphics andcompute processing operations. In at least one embodiment, sharedfunction logic 3210 can include logic units (e.g., sampler, math, and/orinter-thread communication logic) that can be shared by each N sub-coreswithin graphics core 3200. In at least one embodiment, shared and/orcache memory 3212 can be a last-level cache for N sub-cores 3201A-3201Fwithin graphics core 3200 and can also serve as shared memory that isaccessible by multiple sub-cores. In at least one embodiment,geometry/fixed function pipeline 3214 can be included instead ofgeometry/fixed function pipeline 3236 within fixed function block 3230and can include similar logic units.

In at least one embodiment, graphics core 3200 includes additional fixedfunction logic 3216 that can include various fixed function accelerationlogic for use by graphics core 3200. In at least one embodiment,additional fixed function logic 3216 includes an additional geometrypipeline for use in position-only shading. In position-only shading, atleast two geometry pipelines exist, whereas in a full geometry pipelinewithin geometry and fixed function pipelines 3214, 3236, and a cullpipeline, which is an additional geometry pipeline that may be includedwithin additional fixed function logic 3216. In at least one embodiment,a cull pipeline is a trimmed down version of a full geometry pipeline.In at least one embodiment, a full pipeline and a cull pipeline canexecute different instances of an application, each instance having aseparate context. In at least one embodiment, position only shading canhide long cull runs of discarded triangles, enabling shading to becompleted earlier in some instances. For example, in at least oneembodiment, cull pipeline logic within additional fixed function logic3216 can execute position shaders in parallel with a main applicationand generally generates critical results faster than a full pipeline, asa cull pipeline fetches and shades position attributes of vertices,without performing rasterization and rendering of pixels to a framebuffer. In at least one embodiment, a cull pipeline can use generatedcritical results to compute visibility information for all triangleswithout regard to whether those triangles are culled. In at least oneembodiment, a full pipeline (which in this instance may be referred toas a replay pipeline) can consume visibility information to skip culledtriangles to shade only visible triangles that are finally passed to arasterization phase.

In at least one embodiment, additional fixed function logic 3216 canalso include machine-learning acceleration logic, such as fixed functionmatrix multiplication logic, for implementations including optimizationsfor machine learning training or inferencing.

In at least one embodiment, within each graphics sub-core 3201A-3201Fincludes a set of execution resources that may be used to performgraphics, media, and compute operations in response to requests bygraphics pipeline, media pipeline, or shader programs. In at least oneembodiment, graphics sub-cores 3201A-3201F include multiple EU arrays3202A-3202F, 3204A-3204F, thread dispatch and inter-thread communication(TD/IC) logic 3203A-3203F, a 3D (e.g., texture) sampler 3205A-3205F, amedia sampler 3206A-3206F, a shader processor 3207A-3207F, and sharedlocal memory (SLM) 3208A-3208F. In at least one embodiment, EU arrays3202A-3202F, 3204A-3204F each include multiple execution units, whichare general-purpose graphics processing units capable of performingfloating-point and integer/fixed-point logic operations in service of agraphics, media, or compute operation, including graphics, media, orcompute shader programs. In at least one embodiment, TD/IC logic3203A-3203F performs local thread dispatch and thread control operationsfor execution units within a sub-core and facilitates communicationbetween threads executing on execution units of a sub-core. In at leastone embodiment, 3D samplers 3205A-3205F can read texture or other 3Dgraphics related data into memory. In at least one embodiment, 3Dsamplers can read texture data differently based on a configured samplestate and texture format associated with a given texture. In at leastone embodiment, media samplers 3206A-3206F can perform similar readoperations based on a type and format associated with media data. In atleast one embodiment, each graphics sub-core 3201A-3201F can alternatelyinclude a unified 3D and media sampler. In at least one embodiment,threads executing on execution units within each of sub-cores3201A-3201F can make use of shared local memory 3208A-3208F within eachsub-core, to enable threads executing within a thread group to executeusing a common pool of on-chip memory.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, portions or all of inference and/or training logic 915 maybe incorporated into graphics processor 3210. For example, in at leastone embodiment, training and/or inferencing techniques described hereinmay use one or more of ALUs embodied in a 3D pipeline, graphicsmicrocontroller 3238, geometry and fixed function pipeline 3214 and3236, or other logic in FIG. 32. Moreover, in at least one embodiment,inferencing and/or training operations described herein may be doneusing logic other than logic illustrated in FIG. 9A or 9B. In at leastone embodiment, weight parameters may be stored in on-chip or off-chipmemory and/or registers (shown or not shown) that configure ALUs ofgraphics processor 3200 to perform one or more machine learningalgorithms, neural network architectures, use cases, or trainingtechniques described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIGS. 33A-33B illustrate thread execution logic 3300 including an arrayof processing elements of a graphics processor core according to atleast one embodiment. FIG. 33A illustrates at least one embodiment, inwhich thread execution logic 3300 is used. FIG. 33B illustratesexemplary internal details of a graphics execution unit 3308, accordingto at least one embodiment.

As illustrated in FIG. 33A, in at least one embodiment, thread executionlogic 3300 includes a shader processor 3302, a thread dispatcher 3304,an instruction cache 3306, a scalable execution unit array including aplurality of execution units 3307A-3307N and 3308A-3308N, a sampler3310, a data cache 3312, and a data port 3314. In at least oneembodiment, a scalable execution unit array can dynamically scale byenabling or disabling one or more execution units (e.g., any ofexecution unit 3308A-N or 3307A-N) based on computational requirementsof a workload, for example. In at least one embodiment, scalableexecution units are interconnected via an interconnect fabric that linksto each execution unit. In at least one embodiment, thread executionlogic 3300 includes one or more connections to memory, such as systemmemory or cache memory, through one or more of instruction cache 3306,data port 3314, sampler 3310, and execution units 3307 or 3308. In atleast one embodiment, each execution unit (e.g., 3307A) is a stand-aloneprogrammable general-purpose computational unit that is capable ofexecuting multiple simultaneous hardware threads while processingmultiple data elements in parallel for each thread. In at least oneembodiment, array of execution units 3307 and/or 3308 is scalable toinclude any number individual execution units.

In at least one embodiment, execution units 3307 and/or 3308 areprimarily used to execute shader programs. In at least one embodiment,shader processor 3302 can process various shader programs and dispatchexecution threads associated with shader programs via a threaddispatcher 3304. In at least one embodiment, thread dispatcher 3304includes logic to arbitrate thread initiation requests from graphics andmedia pipelines and instantiate requested threads on one or moreexecution units in execution units 3307 and/or 3308. For example, in atleast one embodiment, a geometry pipeline can dispatch vertex,tessellation, or geometry shaders to thread execution logic forprocessing. In at least one embodiment, thread dispatcher 3304 can alsoprocess runtime thread spawning requests from executing shader programs.

In at least one embodiment, execution units 3307 and/or 3308 support aninstruction set that includes native support for many standard 3Dgraphics shader instructions, such that shader programs from graphicslibraries (e.g., Direct 3D and OpenGL) are executed with a minimaltranslation. In at least one embodiment, execution units support vertexand geometry processing (e.g., vertex programs, geometry programs,and/or vertex shaders), pixel processing (e.g., pixel shaders, fragmentshaders) and general-purpose processing (e.g., compute and mediashaders). In at least one embodiment, each of execution units 3307and/or 3308, which include one or more arithmetic logic units (ALUs), iscapable of multi-issue single instruction multiple data (SIMD) executionand multi-threaded operation enables an efficient execution environmentdespite higher latency memory accesses. In at least one embodiment, eachhardware thread within each execution unit has a dedicatedhigh-bandwidth register file and associated independent thread-state. Inat least one embodiment, execution is multi-issue per clock to pipelinescapable of integer, single and double precision floating pointoperations, SIMD branch capability, logical operations, transcendentaloperations, and other miscellaneous operations. In at least oneembodiment, while waiting for data from memory or one of sharedfunctions, dependency logic within execution units 3307 and/or 3308causes a waiting thread to sleep until requested data has been returned.In at least one embodiment, while an awaiting thread is sleeping,hardware resources may be devoted to processing other threads. Forexample, in at least one embodiment, during a delay associated with avertex shader operation, an execution unit can perform operations for apixel shader, fragment shader, or another type of shader program,including a different vertex shader.

In at least one embodiment, each execution unit in execution units 3307and/or 3308 operates on arrays of data elements. In at least oneembodiment, a number of data elements is an “execution size,” or numberof channels for an instruction. In at least one embodiment, an executionchannel is a logical unit of execution for data element access, masking,and flow control within instructions. In at least one embodiment, anumber of channels may be independent of a number of physical arithmeticlogic units (ALUs) or floating point units (FPUs) for a particulargraphics processor. In at least one embodiment, execution units 3307and/or 3308 support integer and floating-point data types.

In at least one embodiment, an execution unit instruction set includesSIMD instructions. In at least one embodiment, various data elements canbe stored as a packed data type in a register and execution unit willprocess various elements based on data size of elements. For example, inat least one embodiment, when operating on a 256-bit wide vector, 256bits of a vector are stored in a register and an execution unit operateson a vector as four separate 64-bit packed data elements (Quad-Word (QW)size data elements), eight separate 32-bit packed data elements (DoubleWord (DW) size data elements), sixteen separate 16-bit packed dataelements (Word (W) size data elements), or thirty-two separate 8-bitdata elements (byte (B) size data elements). However, in at least oneembodiment, different vector widths and register sizes are possible.

In at least one embodiment, one or more execution units can be combinedinto a fused execution unit 3309A-3309N having thread control logic(3311A-3311N) that is common to fused EUs such as execution unit 3307Afused with execution unit 3308A into fused execution unit 3309A. In atleast one embodiment, multiple EUs can be fused into an EU group. In atleast one embodiment, each EU in a fused EU group can be configured toexecute a separate SIMD hardware thread, with a number of EUs in a fusedEU group possibly varying according to various embodiments. In at leastone embodiment, various SIMD widths can be performed per-EU, includingbut not limited to SIMD8, SIMD16, and SIMD32. In at least oneembodiment, each fused graphics execution unit 3309A-3309N includes atleast two execution units. For example, in at least one embodiment,fused execution unit 3309A includes a first EU 3307A, second EU 3308A,and thread control logic 3311A that is common to first EU 3307A andsecond EU 3308A. In at least one embodiment, thread control logic 3311Acontrols threads executed on fused graphics execution unit 3309A,allowing each EU within fused execution units 3309A-3309N to executeusing a common instruction pointer register.

In at least one embodiment, one or more internal instruction caches(e.g., 3306) are included in thread execution logic 3300 to cache threadinstructions for execution units. In at least one embodiment, one ormore data caches (e.g., 3312) are included to cache thread data duringthread execution. In at least one embodiment, sampler 3310 is includedto provide texture sampling for 3D operations and media sampling formedia operations. In at least one embodiment, sampler 3310 includesspecialized texture or media sampling functionality to process textureor media data during sampling process before providing sampled data toan execution unit.

During execution, in at least one embodiment, graphics and mediapipelines send thread initiation requests to thread execution logic 3300via thread spawning and dispatch logic. In at least one embodiment, oncea group of geometric objects has been processed and rasterized intopixel data, pixel processor logic (e.g., pixel shader logic, fragmentshader logic, etc.) within shader processor 3302 is invoked to furthercompute output information and cause results to be written to outputsurfaces (e.g., color buffers, depth buffers, stencil buffers, etc.). Inat least one embodiment, a pixel shader or a fragment shader calculatesvalues of various vertex attributes that are to be interpolated across arasterized object. In at least one embodiment, pixel processor logicwithin shader processor 3302 then executes an application programminginterface (API)-supplied pixel or fragment shader program. In at leastone embodiment, to execute a shader program, shader processor 3302dispatches threads to an execution unit (e.g., 3308A) via threaddispatcher 3304. In at least one embodiment, shader processor 3302 usestexture sampling logic in sampler 3310 to access texture data in texturemaps stored in memory. In at least one embodiment, arithmetic operationson texture data and input geometry data compute pixel color data foreach geometric fragment, or discards one or more pixels from furtherprocessing.

In at least one embodiment, data port 3314 provides a memory accessmechanism for thread execution logic 3300 to output processed data tomemory for further processing on a graphics processor output pipeline.In at least one embodiment, data port 3314 includes or couples to one ormore cache memories (e.g., data cache 3312) to cache data for memoryaccess via a data port.

As illustrated in FIG. 33B, in at least one embodiment, a graphicsexecution unit 3308 can include an instruction fetch unit 3337, ageneral register file array (GRF) 3324, an architectural register filearray (ARF) 3326, a thread arbiter 3322, a send unit 3330, a branch unit3332, a set of SIMD floating point units (FPUs) 3334, and a set ofdedicated integer SIMD ALUs 3335. In at least one embodiment, GRF 3324and ARF 3326 includes a set of general register files and architectureregister files associated with each simultaneous hardware thread thatmay be active in graphics execution unit 3308. In at least oneembodiment, per thread architectural state is maintained in ARF 3326,while data used during thread execution is stored in GRF 3324. In atleast one embodiment, execution state of each thread, includinginstruction pointers for each thread, can be held in thread-specificregisters in ARF 3326.

In at least one embodiment, graphics execution unit 3308 has anarchitecture that is a combination of Simultaneous Multi-Threading (SMT)and fine-grained Interleaved Multi-Threading (IMT). In at least oneembodiment, architecture has a modular configuration that can befine-tuned at design time based on a target number of simultaneousthreads and number of registers per execution unit, where execution unitresources are divided across logic used to execute multiple simultaneousthreads.

In at least one embodiment, graphics execution unit 3308 can co-issuemultiple instructions, which may each be different instructions. In atleast one embodiment, thread arbiter 3322 of graphics execution unitthread 3308 can dispatch instructions to one of send unit 3330, branchunit 3332, or SIMD FPU(s) 3334 for execution. In at least oneembodiment, each execution thread can access 128 general-purposeregisters within GRF 3324, where each register can store 32 bytes,accessible as a SIMD 8-element vector of 32-bit data elements. In atleast one embodiment, each execution unit thread has access to 4kilobytes within GRF 3324, although embodiments are not so limited, andgreater or fewer register resources may be provided in otherembodiments. In at least one embodiment, up to seven threads can executesimultaneously, although a number of threads per execution unit can alsovary according to embodiments. In at least one embodiment, in whichseven threads may access 4 kilobytes, GRF 3324 can store a total of 28kilobytes. In at least one embodiment, flexible addressing modes canpermit registers to be addressed together to build effectively widerregisters or to represent strided rectangular block data structures.

In at least one embodiment, memory operations, sampler operations, andother longer-latency system communications are dispatched via “send”instructions that are executed by message passing to send unit 3330. Inat least one embodiment, branch instructions are dispatched to branchunit 3332 to facilitate SIMD divergence and eventual convergence.

In at least one embodiment, graphics execution unit 3308 includes one ormore SIMD floating point units (FPU(s)) 3334 to perform floating-pointoperations. In at least one embodiment, FPU(s) 3334 also support integercomputation. In at least one embodiment, FPU(s) 3334 can SIMD execute upto M number of 32-bit floating-point (or integer) operations, or SIMDexecute up to 2M 16-bit integer or 16-bit floating-point operations. Inat least one embodiment, at least one FPU provides extended mathcapability to support high-throughput transcendental math functions anddouble precision 64-bit floating-point. In at least one embodiment, aset of 8-bit integer SIMD ALUs 3335 are also present, and may bespecifically optimized to perform operations associated with machinelearning computations.

In at least one embodiment, arrays of multiple instances of graphicsexecution unit 3308 can be instantiated in a graphics sub-core grouping(e.g., a sub-slice). In at least one embodiment, execution unit 3308 canexecute instructions across a plurality of execution channels. In atleast one embodiment, each thread executed on graphics execution unit3308 is executed on a different channel.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, portions or all of inference and/or training logic 915 maybe incorporated into thread execution logic 3300. Moreover, in at leastone embodiment, inferencing and/or training operations described hereinmay be done using logic other than logic illustrated in FIG. 9A or 9B.In at least one embodiment, weight parameters may be stored in on-chipor off-chip memory and/or registers (shown or not shown) that configureALUs thread of execution logic 3300 to perform one or more machinelearning algorithms, neural network architectures, use cases, ortraining techniques described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 34 illustrates a parallel processing unit (“PPU”) 3400, accordingto at least one embodiment. In at least one embodiment, PPU 3400 isconfigured with machine-readable code that, if executed by PPU 3400,causes PPU 3400 to perform some or all of processes and techniquesdescribed throughout this disclosure. In at least one embodiment, PPU3400 is a multi-threaded processor that is implemented on one or moreintegrated circuit devices and that utilizes multithreading as alatency-hiding technique designed to process computer-readableinstructions (also referred to as machine-readable instructions orsimply instructions) on multiple threads in parallel. In at least oneembodiment, a thread refers to a thread of execution and is aninstantiation of a set of instructions configured to be executed by PPU3400. In at least one embodiment, PPU 3400 is a graphics processing unit(“GPU”) configured to implement a graphics rendering pipeline forprocessing three-dimensional (“3D”) graphics data in order to generatetwo-dimensional (“2D”) image data for display on a display device suchas a liquid crystal display (“LCD”) device. In at least one embodiment,PPU 3400 is utilized to perform computations such as linear algebraoperations and machine-learning operations. FIG. 34 illustrates anexample parallel processor for illustrative purposes only and should beconstrued as a non-limiting example of processor architecturescontemplated within scope of this disclosure and that any suitableprocessor may be employed to supplement and/or substitute for same.

In at least one embodiment, one or more PPUs 3400 are configured toaccelerate High Performance Computing (“HPC”), data center, and machinelearning applications. In at least one embodiment, PPU 3400 isconfigured to accelerate deep learning systems and applicationsincluding following non-limiting examples: autonomous vehicle platforms,deep learning, high-accuracy speech, image, text recognition systems,intelligent video analytics, molecular simulations, drug discovery,disease diagnosis, weather forecasting, big data analytics, astronomy,molecular dynamics simulation, financial modeling, robotics, factoryautomation, real-time language translation, online search optimizations,and personalized user recommendations, and more.

In at least one embodiment, PPU 3400 includes, without limitation, anInput/Output (“I/O”) unit 3406, a front-end unit 3410, a scheduler unit3412, a work distribution unit 3414, a hub 3416, a crossbar (“XBar”)3420, one or more general processing clusters (“GPCs”) 3418, and one ormore partition units (“memory partition units”) 3422. In at least oneembodiment, PPU 3400 is connected to a host processor or other PPUs 3400via one or more high-speed GPU interconnects (“GPU interconnects”) 3408.In at least one embodiment, PPU 3400 is connected to a host processor orother peripheral devices via a system bus 3402. In at least oneembodiment, PPU 3400 is connected to a local memory comprising one ormore memory devices (“memory”) 3404. In at least one embodiment, memorydevices 3404 include, without limitation, one or more dynamic randomaccess memory (“DRAM”) devices. In at least one embodiment, one or moreDRAM devices are configured and/or configurable as high-bandwidth memory(“HBM”) subsystems, with multiple DRAM dies stacked within each device.

In at least one embodiment, high-speed GPU interconnect 3408 may referto a wire-based multi-lane communications link that is used by systemsto scale and include one or more PPUs 3400 combined with one or morecentral processing units (“CPUs”), supports cache coherence between PPUs3400 and CPUs, and CPU mastering. In at least one embodiment, dataand/or commands are transmitted by high-speed GPU interconnect 3408through hub 3416 to/from other units of PPU 3400 such as one or morecopy engines, video encoders, video decoders, power management units,and other components which may not be explicitly illustrated in FIG. 34.

In at least one embodiment, I/O unit 3406 is configured to transmit andreceive communications (e.g., commands, data) from a host processor (notillustrated in FIG. 34) over system bus 3402. In at least oneembodiment, I/O unit 3406 communicates with host processor directly viasystem bus 3402 or through one or more intermediate devices such as amemory bridge. In at least one embodiment, I/O unit 3406 may communicatewith one or more other processors, such as one or more of PPUs 3400 viasystem bus 3402. In at least one embodiment, I/O unit 3406 implements aPeripheral Component Interconnect Express (“PCIe”) interface forcommunications over a PCIe bus. In at least one embodiment, I/O unit3406 implements interfaces for communicating with external devices.

In at least one embodiment, I/O unit 3406 decodes packets received viasystem bus 3402. In at least one embodiment, at least some packetsrepresent commands configured to cause PPU 3400 to perform variousoperations. In at least one embodiment, I/O unit 3406 transmits decodedcommands to various other units of PPU 3400 as specified by commands. Inat least one embodiment, commands are transmitted to front-end unit 3410and/or transmitted to hub 3416 or other units of PPU 3400 such as one ormore copy engines, a video encoder, a video decoder, a power managementunit, etc. (not explicitly illustrated in FIG. 34). In at least oneembodiment, I/O unit 3406 is configured to route communications betweenand among various logical units of PPU 3400.

In at least one embodiment, a program executed by host processor encodesa command stream in a buffer that provides workloads to PPU 3400 forprocessing. In at least one embodiment, a workload comprisesinstructions and data to be processed by those instructions. In at leastone embodiment, a buffer is a region in a memory that is accessible(e.g., read/write) by both a host processor and PPU 3400—a hostinterface unit may be configured to access that buffer in a systemmemory connected to system bus 3402 via memory requests transmitted oversystem bus 3402 by I/O unit 3406. In at least one embodiment, a hostprocessor writes a command stream to a buffer and then transmits apointer to a start of a command stream to PPU 3400 such that front-endunit 3410 receives pointers to one or more command streams and managesone or more command streams, reading commands from command streams andforwarding commands to various units of PPU 3400.

In at least one embodiment, front-end unit 3410 is coupled to schedulerunit 3412 that configures various GPCs 3418 to process tasks defined byone or more command streams. In at least one embodiment, scheduler unit3412 is configured to track state information related to various tasksmanaged by scheduler unit 3412 where state information may indicatewhich of GPCs 3418 a task is assigned to, whether task is active orinactive, a priority level associated with task, and so forth. In atleast one embodiment, scheduler unit 3412 manages execution of aplurality of tasks on one or more of GPCs 3418.

In at least one embodiment, scheduler unit 3412 is coupled to workdistribution unit 3414 that is configured to dispatch tasks forexecution on GPCs 3418. In at least one embodiment, work distributionunit 3414 tracks a number of scheduled tasks received from schedulerunit 3412 and work distribution unit 3414 manages a pending task pooland an active task pool for each of GPCs 3418. In at least oneembodiment, pending task pool comprises a number of slots (e.g., 32slots) that contain tasks assigned to be processed by a particular GPC3418; an active task pool may comprise a number of slots (e.g., 4 slots)for tasks that are actively being processed by GPCs 3418 such that asone of GPCs 3418 completes execution of a task, that task is evictedfrom that active task pool for GPC 3418 and another task from a pendingtask pool is selected and scheduled for execution on GPC 3418. In atleast one embodiment, if an active task is idle on GPC 3418, such aswhile waiting for a data dependency to be resolved, then that activetask is evicted from GPC 3418 and returned to that pending task poolwhile another task in that pending task pool is selected and scheduledfor execution on GPC 3418.

In at least one embodiment, work distribution unit 3414 communicateswith one or more GPCs 3418 via XBar 3420. In at least one embodiment,XBar 3420 is an interconnect network that couples many of units of PPU3400 to other units of PPU 3400 and can be configured to couple workdistribution unit 3414 to a particular GPC 3418. In at least oneembodiment, one or more other units of PPU 3400 may also be connected toXBar 3420 via hub 3416.

In at least one embodiment, tasks are managed by scheduler unit 3412 anddispatched to one of GPCs 3418 by work distribution unit 3414. In atleast one embodiment, GPC 3418 is configured to process task andgenerate results. In at least one embodiment, results may be consumed byother tasks within GPC 3418, routed to a different GPC 3418 via XBar3420, or stored in memory 3404. In at least one embodiment, results canbe written to memory 3404 via partition units 3422, which implement amemory interface for reading and writing data to/from memory 3404. In atleast one embodiment, results can be transmitted to another PPU 3404 orCPU via high-speed GPU interconnect 3408. In at least one embodiment,PPU 3400 includes, without limitation, a number U of partition units3422 that is equal to a number of separate and distinct memory devices3404 coupled to PPU 3400, as described in more detail herein inconjunction with FIG. 36.

In at least one embodiment, a host processor executes a driver kernelthat implements an application programming interface (“API”) thatenables one or more applications executing on a host processor toschedule operations for execution on PPU 3400. In at least oneembodiment, multiple compute applications are simultaneously executed byPPU 3400 and PPU 3400 provides isolation, quality of service (“QoS”),and independent address spaces for multiple compute applications. In atleast one embodiment, an application generates instructions (e.g., inform of API calls) that cause a driver kernel to generate one or moretasks for execution by PPU 3400 and that driver kernel outputs tasks toone or more streams being processed by PPU 3400. In at least oneembodiment, each task comprises one or more groups of related threads,which may be referred to as a warp. In at least one embodiment, a warpcomprises a plurality of related threads (e.g., 32 threads) that can beexecuted in parallel. In at least one embodiment, cooperating threadscan refer to a plurality of threads including instructions to performtask and that exchange data through shared memory. In at least oneembodiment, threads and cooperating threads are described in more detailin conjunction with FIG. 36.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, deep learning application processor is used to train amachine learning model, such as a neural network, to predict or inferinformation provided to PPU 3400. In at least one embodiment, deeplearning application processor 3400 is used to infer or predictinformation based on a trained machine learning model (e.g., neuralnetwork) that has been trained by another processor or system or by PPU3400. In at least one embodiment, PPU 3400 may be used to perform one ormore neural network use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 35 illustrates a general processing cluster (“GPC”) 3500, accordingto at least one embodiment. In at least one embodiment, GPC 3500 is GPC3418 of FIG. 34. In at least one embodiment, each GPC 3500 includes,without limitation, a number of hardware units for processing tasks andeach GPC 3500 includes, without limitation, a pipeline manager 3502, apre-raster operations unit (“preROP”) 3504, a raster engine 3508, a workdistribution crossbar (“WDX”) 3516, a memory management unit (“MMU”)3518, one or more Data Processing Clusters (“DPCs”) 3506, and anysuitable combination of parts.

In at least one embodiment, operation of GPC 3500 is controlled bypipeline manager 3502. In at least one embodiment, pipeline manager 3502manages configuration of one or more DPCs 3506 for processing tasksallocated to GPC 3500. In at least one embodiment, pipeline manager 3502configures at least one of one or more DPCs 3506 to implement at least aportion of a graphics rendering pipeline. In at least one embodiment,DPC 3506 is configured to execute a vertex shader program on aprogrammable streaming multi-processor (“SM”) 3514. In at least oneembodiment, pipeline manager 3502 is configured to route packetsreceived from a work distribution unit to appropriate logical unitswithin GPC 3500, in at least one embodiment, and some packets may berouted to fixed function hardware units in preROP 3504 and/or rasterengine 3508 while other packets may be routed to DPCs 3506 forprocessing by a primitive engine 3512 or SM 3514. In at least oneembodiment, pipeline manager 3502 configures at least one of DPCs 3506to implement a neural network model and/or a computing pipeline.

In at least one embodiment, preROP unit 3504 is configured, in at leastone embodiment, to route data generated by raster engine 3508 and DPCs3506 to a Raster Operations (“ROP”) unit in partition unit 3422,described in more detail above in conjunction with FIG. 34. In at leastone embodiment, preROP unit 3504 is configured to perform optimizationsfor color blending, organize pixel data, perform address translations,and more. In at least one embodiment, raster engine 3508 includes,without limitation, a number of fixed function hardware units configuredto perform various raster operations, in at least one embodiment, andraster engine 3508 includes, without limitation, a setup engine, acoarse raster engine, a culling engine, a clipping engine, a fine rasterengine, a tile coalescing engine, and any suitable combination thereof.In at least one embodiment, setup engine receives transformed verticesand generates plane equations associated with geometric primitivedefined by vertices; plane equations are transmitted to a coarse rasterengine to generate coverage information (e.g., an x, y coverage mask fora tile) for primitive; output of a coarse raster engine is transmittedto a culling engine where fragments associated with a primitive thatfail a z-test are culled, and transmitted to a clipping engine wherefragments lying outside a viewing frustum are clipped. In at least oneembodiment, fragments that survive clipping and culling are passed to afine raster engine to generate attributes for pixel fragments based onplane equations generated by a setup engine. In at least one embodiment,an output of raster engine 3508 comprises fragments to be processed byany suitable entity, such as by a fragment shader implemented within DPC3506.

In at least one embodiment, each DPC 3506 included in GPC 3500comprises, without limitation, an M-Pipe Controller (“MPC”) 3510;primitive engine 3512; one or more SMs 3514; and any suitablecombination thereof. In at least one embodiment, MPC 3510 controlsoperation of DPC 3506, routing packets received from pipeline manager3502 to appropriate units in DPC 3506. In at least one embodiment,packets associated with a vertex are routed to primitive engine 3512,which is configured to fetch vertex attributes associated with a vertexfrom memory; in contrast, packets associated with a shader program maybe transmitted to SM 3514.

In at least one embodiment, SM 3514 comprises, without limitation, aprogrammable streaming processor that is configured to process tasksrepresented by a number of threads. In at least one embodiment, SM 3514is multi-threaded and configured to execute a plurality of threads(e.g., 32 threads) from a particular group of threads concurrently andimplements a Single-Instruction, Multiple-Data (“SIMD”) architecturewhere each thread in a group of threads (e.g., a warp) is configured toprocess a different set of data based on same set of instructions. In atleast one embodiment, all threads in group of threads execute a commonset of instructions. In at least one embodiment, SM 3514 implements aSingle-Instruction, Multiple Thread (“SIMT”) architecture wherein eachthread in a group of threads is configured to process a different set ofdata based on that common set of instructions, but where individualthreads in a group of threads are allowed to diverge during execution.In at least one embodiment, a program counter, call stack, and executionstate is maintained for each warp, enabling concurrency between warpsand serial execution within warps when threads within a warp diverge. Inanother embodiment, a program counter, call stack, and execution stateis maintained for each individual thread, enabling equal concurrencybetween all threads, within and between warps. In at least oneembodiment, execution state is maintained for each individual thread andthreads executing common instructions may be converged and executed inparallel for better efficiency. At least one embodiment of SM 3514 isdescribed in more detail herein.

In at least one embodiment, MMU 3518 provides an interface between GPC3500 and a memory partition unit (e.g., partition unit 3422 of FIG. 34)and MMU 3518 provides translation of virtual addresses into physicaladdresses, memory protection, and arbitration of memory requests. In atleast one embodiment, MMU 3518 provides one or more translationlookaside buffers (“TLBs”) for performing translation of virtualaddresses into physical addresses in memory.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, deep learning application processor is used to train amachine learning model, such as a neural network, to predict or inferinformation provided to GPC 3500. In at least one embodiment, GPC 3500is used to infer or predict information based on a trained machinelearning model (e.g., neural network) that has been trained by anotherprocessor or system or by GPC 3500. In at least one embodiment, GPC 3500may be used to perform one or more neural network use cases describedherein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 36 illustrates a memory partition unit 3600 of a parallelprocessing unit (“PPU”), in accordance with at least one embodiment. Inat least one embodiment, memory partition unit 3600 includes, withoutlimitation, a Raster Operations (“ROP”) unit 3602, a level two (“L2”)cache 3604, a memory interface 3606, and any suitable combinationthereof. In at least one embodiment, memory interface 3606 is coupled tomemory. In at least one embodiment, memory interface 3606 may implement32, 64, 128, 1024-bit data buses, or like, for high-speed data transfer.In at least one embodiment, PPU incorporates U memory interfaces 3606where U is a positive integer, with one memory interface 3606 per pairof partition units 3600, where each pair of partition units 3600 isconnected to a corresponding memory device. For example, in at least oneembodiment, PPU may be connected to up to Y memory devices, such as highbandwidth memory stacks or graphics double-data-rate, version 5,synchronous dynamic random access memory (“GDDR5 SDRAM”).

In at least one embodiment, memory interface 3606 implements a highbandwidth memory second generation (“HBM2”) memory interface and Yequals half of U. In at least one embodiment, HBM2 memory stacks arelocated on a physical package with a PPU, providing substantial powerand area savings compared with conventional GDDR5 SDRAM systems. In atleast one embodiment, each HBM2 stack includes, without limitation, fourmemory dies with Y=4, with each HBM2 stack including two 128-bitchannels per die for a total of 8 channels and a data bus width of 1024bits. In at least one embodiment, that memory supports Single-ErrorCorrecting Double-Error Detecting (“SECDED”) Error Correction Code(“ECC”) to protect data. In at least one embodiment, ECC can providehigher reliability for compute applications that are sensitive to datacorruption.

In at least one embodiment, PPU implements a multi-level memoryhierarchy. In at least one embodiment, memory partition unit 3600supports a unified memory to provide a single unified virtual addressspace for central processing unit (“CPU”) and PPU memory, enabling datasharing between virtual memory systems. In at least one embodimentfrequency of accesses by a PPU to a memory located on other processorsis traced to ensure that memory pages are moved to physical memory ofPPU that is accessing pages more frequently. In at least one embodiment,high-speed GPU interconnect 3408 supports address translation servicesallowing PPU to directly access a CPU's page tables and providing fullaccess to CPU memory by a PPU.

In at least one embodiment, copy engines transfer data between multiplePPUs or between PPUs and CPUs. In at least one embodiment, copy enginescan generate page faults for addresses that are not mapped into pagetables and memory partition unit 3600 then services page faults, mappingaddresses into page table, after which copy engine performs a transfer.In at least one embodiment, memory is pinned (i.e., non-pageable) formultiple copy engine operations between multiple processors,substantially reducing available memory. In at least one embodiment,with hardware page faulting, addresses can be passed to copy engineswithout regard as to whether memory pages are resident, and a copyprocess is transparent.

Data from memory 3404 of FIG. 34 or other system memory is fetched bymemory partition unit 3600 and stored in L2 cache 3604, which is locatedon-chip and is shared between various GPCs, in accordance with at leastone embodiment. Each memory partition unit 3600, in at least oneembodiment, includes, without limitation, at least a portion of L2 cacheassociated with a corresponding memory device. In at least oneembodiment, lower level caches are implemented in various units withinGPCs. In at least one embodiment, each of SMs 3514 in FIG. 35 mayimplement a Level 1 (“L1”) cache wherein that L1 cache is private memorythat is dedicated to a particular SM 3514 and data from L2 cache 3604 isfetched and stored in each L1 cache for processing in functional unitsof SMs 3514. In at least one embodiment, L2 cache 3604 is coupled tomemory interface 3606 and XBar 3420 shown in FIG. 34.

ROP unit 3602 performs graphics raster operations related to pixelcolor, such as color compression, pixel blending, and more, in at leastone embodiment. ROP unit 3602, in at least one embodiment, implementsdepth testing in conjunction with raster engine 3508, receiving a depthfor a sample location associated with a pixel fragment from a cullingengine of raster engine 3508. In at least one embodiment, depth istested against a corresponding depth in a depth buffer for a samplelocation associated with a fragment. In at least one embodiment, if thatfragment passes that depth test for that sample location, then ROP unit3602 updates depth buffer and transmits a result of that depth test toraster engine 3508. It will be appreciated that a number of partitionunits 3600 may be different than a number of GPCs and, therefore, eachROP unit 3602 can, in at least one embodiment, be coupled to each GPC.In at least one embodiment, ROP unit 3602 tracks packets received fromdifferent GPCs and determines whether a result generated by ROP unit3602 is to be routed to through XBar 3420.

FIG. 37 illustrates a streaming multi-processor (“SM”) 3700, accordingto at least one embodiment. In at least one embodiment, SM 3700 is SM ofFIG. 35. In at least one embodiment, SM 3700 includes, withoutlimitation, an instruction cache 3702, one or more scheduler units 3704,a register file 3708, one or more processing cores (“cores”) 3710, oneor more special function units (“SFUs”) 3712, one or more load/storeunits (“LSUs”) 3714, an interconnect network 3716, a shared memory/levelone (“L1”) cache 3718, and/or any suitable combination thereof.

In at least one embodiment, a work distribution unit dispatches tasksfor execution on general processing clusters (“GPCs”) of parallelprocessing units (“PPUs”) and each task is allocated to a particularData Processing Cluster (“DPC”) within a GPC and, if a task isassociated with a shader program, that task is allocated to one of SMs3700. In at least one embodiment, scheduler unit 3704 receives tasksfrom a work distribution unit and manages instruction scheduling for oneor more thread blocks assigned to SM 3700. In at least one embodiment,scheduler unit 3704 schedules thread blocks for execution as warps ofparallel threads, wherein each thread block is allocated at least onewarp. In at least one embodiment, each warp executes threads. In atleast one embodiment, scheduler unit 3704 manages a plurality ofdifferent thread blocks, allocating warps to different thread blocks andthen dispatching instructions from plurality of different cooperativegroups to various functional units (e.g., processing cores 3710, SFUs3712, and LSUs 3714) during each clock cycle.

In at least one embodiment, Cooperative Groups may refer to aprogramming model for organizing groups of communicating threads thatallows developers to express granularity at which threads arecommunicating, enabling expression of richer, more efficient paralleldecompositions. In at least one embodiment, cooperative launch APIssupport synchronization amongst thread blocks for execution of parallelalgorithms. In at least one embodiment, applications of conventionalprogramming models provide a single, simple construct for synchronizingcooperating threads: a barrier across all threads of a thread block(e.g., syncthreads( ) function). However, in at least one embodiment,programmers may define groups of threads at smaller than thread blockgranularities and synchronize within defined groups to enable greaterperformance, design flexibility, and software reuse in form ofcollective group-wide function interfaces. In at least one embodiment,Cooperative Groups enables programmers to define groups of threadsexplicitly at sub-block (i.e., as small as a single thread) andmulti-block granularities, and to perform collective operations such assynchronization on threads in a cooperative group. In at least oneembodiment, that programming model supports clean composition acrosssoftware boundaries, so that libraries and utility functions cansynchronize safely within their local context without having to makeassumptions about convergence. In at least one embodiment, CooperativeGroups primitives enable new patterns of cooperative parallelism,including, without limitation, producer-consumer parallelism,opportunistic parallelism, and global synchronization across an entiregrid of thread blocks.

In at least one embodiment, a dispatch unit 3706 is configured totransmit instructions to one or more functional units and scheduler unit3704 and includes, without limitation, two dispatch units 3706 thatenable two different instructions from a common warp to be dispatchedduring each clock cycle. In at least one embodiment, each scheduler unit3704 includes a single dispatch unit 3706 or additional dispatch units3706.

In at least one embodiment, each SM 3700, in at least one embodiment,includes, without limitation, register file 3708 that provides a set ofregisters for functional units of SM 3700. In at least one embodiment,register file 3708 is divided between each functional unit such thateach functional unit is allocated a dedicated portion of register file3708. In at least one embodiment, register file 3708 is divided betweendifferent warps being executed by SM 3700 and register file 3708provides temporary storage for operands connected to data paths offunctional units. In at least one embodiment, each SM 3700 comprises,without limitation, a plurality of L processing cores 3710, where L is apositive integer. In at least one embodiment, SM 3700 includes, withoutlimitation, a large number (e.g., 128 or more) of distinct processingcores 3710. In at least one embodiment, each processing core 3710includes, without limitation, a fully-pipelined, single-precision,double-precision, and/or mixed precision processing unit that includes,without limitation, a floating point arithmetic logic unit and aninteger arithmetic logic unit. In at least one embodiment, floatingpoint arithmetic logic units implement IEEE 754-2008 standard forfloating point arithmetic. In at least one embodiment, processing cores3710 include, without limitation, 64 single-precision (32-bit) floatingpoint cores, 64 integer cores, 32 double-precision (64-bit) floatingpoint cores, and 8 tensor cores.

Tensor cores are configured to perform matrix operations in accordancewith at least one embodiment. In at least one embodiment, one or moretensor cores are included in processing cores 3710. In at least oneembodiment, tensor cores are configured to perform deep learning matrixarithmetic, such as convolution operations for neural network trainingand inferencing. In at least one embodiment, each tensor core operateson a 4×4 matrix and performs a matrix multiply and accumulate operation,D=A×B+C, where A, B, C, and D are 4×4 matrices.

In at least one embodiment, matrix multiply inputs A and B are 16-bitfloating point matrices and accumulation matrices C and D are 16-bitfloating point or 32-bit floating point matrices. In at least oneembodiment, tensor cores operate on 16-bit floating point input datawith 32-bit floating point accumulation. In at least one embodiment,16-bit floating point multiply uses 64 operations and results in a fullprecision product that is then accumulated using 32-bit floating pointaddition with other intermediate products for a 4×4×4 matrix multiply.Tensor cores are used to perform much larger two-dimensional or higherdimensional matrix operations, built up from these smaller elements, inat least one embodiment. In at least one embodiment, an API, such as aCUDA 9 C++ API, exposes specialized matrix load, matrix multiply andaccumulate, and matrix store operations to efficiently use tensor coresfrom a CUDA-C++ program. In at least one embodiment, at a CUDA level, awarp-level interface assumes 16×16 size matrices spanning all 32 threadsof warp.

In at least one embodiment, each SM 3700 comprises, without limitation,M SFUs 3712 that perform special functions (e.g., attribute evaluation,reciprocal square root, and like). In at least one embodiment, SFUs 3712include, without limitation, a tree traversal unit configured totraverse a hierarchical tree data structure. In at least one embodiment,SFUs 3712 include, without limitation, a texture unit configured toperform texture map filtering operations. In at least one embodiment,texture units are configured to load texture maps (e.g., a 2D array oftexels) from memory and sample texture maps to produce sampled texturevalues for use in shader programs executed by SM 3700. In at least oneembodiment, texture maps are stored in shared memory/L1 cache 3718. Inat least one embodiment, texture units implement texture operations suchas filtering operations using mip-maps (e.g., texture maps of varyinglevels of detail), in accordance with at least one embodiment. In atleast one embodiment, each SM 3700 includes, without limitation, twotexture units.

Each SM 3700 comprises, without limitation, N LSUs 3714 that implementload and store operations between shared memory/L1 cache 3718 andregister file 3708, in at least one embodiment. Interconnect network3716 connects each functional unit to register file 3708 and LSU 3714 toregister file 3708 and shared memory/L1 cache 3718 in at least oneembodiment. In at least one embodiment, interconnect network 3716 is acrossbar that can be configured to connect any functional units to anyregisters in register file 3708 and connect LSUs 3714 to register file3708 and memory locations in shared memory/L1 cache 3718.

In at least one embodiment, shared memory/L1 cache 3718 is an array ofon-chip memory that allows for data storage and communication between SM3700 and primitive engine and between threads in SM 3700, in at leastone embodiment. In at least one embodiment, shared memory/L1 cache 3718comprises, without limitation, 128 KB of storage capacity and is in apath from SM 3700 to a partition unit. In at least one embodiment,shared memory/L1 cache 3718, in at least one embodiment, is used tocache reads and writes. In at least one embodiment, one or more ofshared memory/L1 cache 3718, L2 cache, and memory are backing stores.

Combining data cache and shared memory functionality into a singlememory block provides improved performance for both types of memoryaccesses, in at least one embodiment. In at least one embodiment,capacity is used or is usable as a cache by programs that do not useshared memory, such as if shared memory is configured to use half of acapacity, and texture and load/store operations can use remainingcapacity. Integration within shared memory/L1 cache 3718 enables sharedmemory/L1 cache 3718 to function as a high-throughput conduit forstreaming data while simultaneously providing high-bandwidth andlow-latency access to frequently reused data, in accordance with atleast one embodiment. In at least one embodiment, when configured forgeneral purpose parallel computation, a simpler configuration can beused compared with graphics processing. In at least one embodiment,fixed function graphics processing units are bypassed, creating a muchsimpler programming model. In a general purpose parallel computationconfiguration, a work distribution unit assigns and distributes blocksof threads directly to DPCs, in at least one embodiment. In at least oneembodiment, threads in a block execute a common program, using a uniquethread ID in calculation to ensure each thread generates unique results,using SM 3700 to execute program and perform calculations, sharedmemory/L1 cache 3718 to communicate between threads, and LSU 3714 toread and write global memory through shared memory/L1 cache 3718 andmemory partition unit. In at least one embodiment, when configured forgeneral purpose parallel computation, SM 3700 writes commands thatscheduler unit 3704 can use to launch new work on DPCs.

In at least one embodiment, a PPU is included in or coupled to a desktopcomputer, a laptop computer, a tablet computer, servers, supercomputers,a smart-phone (e.g., a wireless, hand-held device), personal digitalassistant (“PDA”), a digital camera, a vehicle, a head mounted display,a hand-held electronic device, and more. In at least one embodiment, aPPU is embodied on a single semiconductor substrate. In at least oneembodiment, a PPU is included in a system-on-a-chip (“SoC”) along withone or more other devices such as additional PPUs, memory, a reducedinstruction set computer (“RISC”) CPU, a memory management unit (“MMU”),a digital-to-analog converter (“DAC”), and like.

In at least one embodiment, a PPU may be included on a graphics cardthat includes one or more memory devices. In at least one embodiment,that graphics card may be configured to interface with a PCIe slot on amotherboard of a desktop computer. In at least one embodiment, that PPUmay be an integrated graphics processing unit (“iGPU”) included inchipset of a motherboard.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B. In at least oneembodiment, deep learning application processor is used to train amachine learning model, such as a neural network, to predict or inferinformation provided to SM 3700. In at least one embodiment, SM 3700 isused to infer or predict information based on a trained machine learningmodel (e.g., neural network) that has been trained by another processoror system or by SM 3700. In at least one embodiment, SM 3700 may be usedto perform one or more neural network use cases described herein.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

Embodiments are disclosed related a virtualized computing platform foradvanced computing, such as image inferencing and image processing inmedical applications. Without limitation, embodiments may includeradiography, magnetic resonance imaging (MM), nuclear medicine,ultrasound, sonography, elastography, photoacoustic imaging, tomography,echocardiography, functional near-infrared spectroscopy, and magneticparticle imaging, or a combination thereof. In at least one embodiment,a virtualized computing platform and associated processes describedherein may additionally or alternatively be used, without limitation, inforensic science analysis, sub-surface detection and imaging (e.g., oilexploration, archaeology, paleontology, etc.), topography, oceanography,geology, osteology, meteorology, intelligent area or object tracking andmonitoring, sensor data processing (e.g., RADAR, SONAR, LIDAR, etc.),and/or genomics and gene sequencing.

With reference to FIG. 38, FIG. 38 is an example data flow diagram for aprocess 3800 of generating and deploying an image processing andinferencing pipeline, in accordance with at least one embodiment. In atleast one embodiment, process 3800 may be deployed for use with imagingdevices, processing devices, genomics devices, gene sequencing devices,radiology devices, and/or other device types at one or more facilities3802, such as medical facilities, hospitals, healthcare institutes,clinics, research or diagnostic labs, etc. In at least one embodiment,process 3800 may be deployed to perform genomics analysis andinferencing on sequencing data. Examples of genomic analyses that may beperformed using systems and processes described herein include, withoutlimitation, variant calling, mutation detection, and gene expressionquantification.

In at least one embodiment, process 3800 may be executed within atraining system 3804 and/or a deployment system 3806. In at least oneembodiment, training system 3804 may be used to perform training,deployment, and implementation of machine learning models (e.g., neuralnetworks, object detection algorithms, computer vision algorithms, etc.)for use in deployment system 3806. In at least one embodiment,deployment system 3806 may be configured to offload processing andcompute resources among a distributed computing environment to reduceinfrastructure requirements at facility 3802. In at least oneembodiment, deployment system 3806 may provide a streamlined platformfor selecting, customizing, and implementing virtual instruments for usewith imaging devices (e.g., Mill, CT Scan, X-Ray, Ultrasound, etc.) orsequencing devices at facility 3802. In at least one embodiment, virtualinstruments may include software-defined applications for performing oneor more processing operations with respect to imaging data generated byimaging devices, sequencing devices, radiology devices, and/or otherdevice types. In at least one embodiment, one or more applications in apipeline may use or call upon services (e.g., inference, visualization,compute, AI, etc.) of deployment system 3806 during execution ofapplications.

In at least one embodiment, some of applications used in advancedprocessing and inferencing pipelines may use machine learning models orother AI to perform one or more processing steps. In at least oneembodiment, machine learning models may be trained at facility 3802using data 3808 (such as imaging data) generated at facility 3802 (andstored on one or more picture archiving and communication system (PACS)servers at facility 3802), may be trained using imaging or sequencingdata 3808 from another facility or facilities (e.g., a differenthospital, lab, clinic, etc.), or a combination thereof. In at least oneembodiment, training system 3804 may be used to provide applications,services, and/or other resources for generating working, deployablemachine learning models for deployment system 3806.

In at least one embodiment, a model registry 3824 may be backed byobject storage that may support versioning and object metadata. In atleast one embodiment, object storage may be accessible through, forexample, a cloud storage (e.g., a cloud 3926 of FIG. 39) compatibleapplication programming interface (API) from within a cloud platform. Inat least one embodiment, machine learning models within model registry3824 may uploaded, listed, modified, or deleted by developers orpartners of a system interacting with an API. In at least oneembodiment, an API may provide access to methods that allow users withappropriate credentials to associate models with applications, such thatmodels may be executed as part of execution of containerizedinstantiations of applications.

In at least one embodiment, a training pipeline 3904 (FIG. 39) mayinclude a scenario where facility 3802 is training their own machinelearning model, or has an existing machine learning model that needs tobe optimized or updated. In at least one embodiment, imaging data 3808generated by imaging device(s), sequencing devices, and/or other devicetypes may be received. In at least one embodiment, once imaging data3808 is received, AI-assisted annotation 3810 may be used to aid ingenerating annotations corresponding to imaging data 3808 to be used asground truth data for a machine learning model. In at least oneembodiment, AI-assisted annotation 3810 may include one or more machinelearning models (e.g., convolutional neural networks (CNNs)) that may betrained to generate annotations corresponding to certain types ofimaging data 3808 (e.g., from certain devices) and/or certain types ofanomalies in imaging data 3808. In at least one embodiment, AI-assistedannotations 3810 may then be used directly, or may be adjusted orfine-tuned using an annotation tool (e.g., by a researcher, a clinician,a doctor, a scientist, etc.), to generate ground truth data. In at leastone embodiment, in some examples, labeled clinic data 3812 (e.g.,annotations provided by a clinician, doctor, scientist, technician,etc.) may be used as ground truth data for training a machine learningmodel. In at least one embodiment, AI-assisted annotations 3810, labeledclinic data 3812, or a combination thereof may be used as ground truthdata for training a machine learning model. In at least one embodiment,a trained machine learning model may be referred to as an output model3816, and may be used by deployment system 3806, as described herein.

In at least one embodiment, training pipeline 3904 (FIG. 39) may includea scenario where facility 3802 needs a machine learning model for use inperforming one or more processing tasks for one or more applications indeployment system 3806, but facility 3802 may not currently have such amachine learning model (or may not have a model that is optimized,efficient, or effective for such purposes). In at least one embodiment,an existing machine learning model may be selected from model registry3824. In at least one embodiment, model registry 3824 may includemachine learning models trained to perform a variety of differentinference tasks on imaging data. In at least one embodiment, machinelearning models in model registry 3824 may have been trained on imagingdata from different facilities than facility 3802 (e.g., facilitiesremotely located). In at least one embodiment, machine learning modelsmay have been trained on imaging data from one location, two locations,or any number of locations. In at least one embodiment, when beingtrained on imaging data from a specific location, training may takeplace at that location, or at least in a manner that protectsconfidentiality of imaging data or restricts imaging data from beingtransferred off-premises (e.g., to comply with HIPAA regulations,privacy regulations, etc.). In at least one embodiment, once a model istrained—or partially trained—at one location, a machine learning modelmay be added to model registry 3824. In at least one embodiment, amachine learning model may then be retrained, or updated, at any numberof other facilities, and a retrained or updated model may be madeavailable in model registry 3824. In at least one embodiment, a machinelearning model may then be selected from model registry 3824—andreferred to as output model 3816—and may be used in deployment system3806 to perform one or more processing tasks for one or moreapplications of a deployment system.

In at least one embodiment, training pipeline 3904 (FIG. 39) may be usedin a scenario that includes facility 3802 requiring a machine learningmodel for use in performing one or more processing tasks for one or moreapplications in deployment system 3806, but facility 3802 may notcurrently have such a machine learning model (or may not have a modelthat is optimized, efficient, or effective for such purposes). In atleast one embodiment, a machine learning model selected from modelregistry 3824 might not be fine-tuned or optimized for imaging data 3808generated at facility 3802 because of differences in populations,genetic variations, robustness of training data used to train a machinelearning model, diversity in anomalies of training data, and/or otherissues with training data. In at least one embodiment, AI-assistedannotation 3810 may be used to aid in generating annotationscorresponding to imaging data 3808 to be used as ground truth data forretraining or updating a machine learning model. In at least oneembodiment, labeled clinic data 3812 (e.g., annotations provided by aclinician, doctor, scientist, etc.) may be used as ground truth data fortraining a machine learning model. In at least one embodiment,retraining or updating a machine learning model may be referred to asmodel training 3814. In at least one embodiment, model training3814—e.g., AI-assisted annotations 3810, labeled clinic data 3812, or acombination thereof—may be used as ground truth data for retraining orupdating a machine learning model.

In at least one embodiment, deployment system 3806 may include software3818, services 3820, hardware 3822, and/or other components, features,and functionality. In at least one embodiment, deployment system 3806may include a software “stack,” such that software 3818 may be built ontop of services 3820 and may use services 3820 to perform some or all ofprocessing tasks, and services 3820 and software 3818 may be built ontop of hardware 3822 and use hardware 3822 to execute processing,storage, and/or other compute tasks of deployment system 3806.

In at least one embodiment, software 3818 may include any number ofdifferent containers, where each container may execute an instantiationof an application. In at least one embodiment, each application mayperform one or more processing tasks in an advanced processing andinferencing pipeline (e.g., inferencing, object detection, featuredetection, segmentation, image enhancement, calibration, etc.). In atleast one embodiment, for each type of imaging device (e.g., CT, MM,X-Ray, ultrasound, sonography, echocardiography, etc.), sequencingdevice, radiology device, genomics device, etc., there may be any numberof containers that may perform a data processing task with respect toimaging data 3808 (or other data types, such as those described herein)generated by a device. In at least one embodiment, an advancedprocessing and inferencing pipeline may be defined based on selectionsof different containers that are desired or required for processingimaging data 3808, in addition to containers that receive and configureimaging data for use by each container and/or for use by facility 3802after processing through a pipeline (e.g., to convert outputs back to ausable data type, such as digital imaging and communications in medicine(DICOM) data, radiology information system (RIS) data, clinicalinformation system (CIS) data, remote procedure call (RPC) data, datasubstantially compliant with a representation state transfer (REST)interface, data substantially compliant with a file-based interface,and/or raw data, for storage and display at facility 3802). In at leastone embodiment, a combination of containers within software 3818 (e.g.,that make up a pipeline) may be referred to as a virtual instrument (asdescribed in more detail herein), and a virtual instrument may leverageservices 3820 and hardware 3822 to execute some or all processing tasksof applications instantiated in containers.

In at least one embodiment, a data processing pipeline may receive inputdata (e.g., imaging data 3808) in a DICOM, RIS, CIS, REST compliant,RPC, raw, and/or other format in response to an inference request (e.g.,a request from a user of deployment system 3806, such as a clinician, adoctor, a radiologist, etc.). In at least one embodiment, input data maybe representative of one or more images, video, and/or other datarepresentations generated by one or more imaging devices, sequencingdevices, radiology devices, genomics devices, and/or other device types.In at least one embodiment, data may undergo pre-processing as part ofdata processing pipeline to prepare data for processing by one or moreapplications. In at least one embodiment, post-processing may beperformed on an output of one or more inferencing tasks or otherprocessing tasks of a pipeline to prepare an output data for a nextapplication and/or to prepare output data for transmission and/or use bya user (e.g., as a response to an inference request). In at least oneembodiment, inferencing tasks may be performed by one or more machinelearning models, such as trained or deployed neural networks, which mayinclude output models 3816 of training system 3804.

In at least one embodiment, tasks of data processing pipeline may beencapsulated in a container(s) that each represent a discrete, fullyfunctional instantiation of an application and virtualized computingenvironment that is able to reference machine learning models. In atleast one embodiment, containers or applications may be published into aprivate (e.g., limited access) area of a container registry (describedin more detail herein), and trained or deployed models may be stored inmodel registry 3824 and associated with one or more applications. In atleast one embodiment, images of applications (e.g., container images)may be available in a container registry, and once selected by a userfrom a container registry for deployment in a pipeline, an image may beused to generate a container for an instantiation of an application foruse by a user's system.

In at least one embodiment, developers (e.g., software developers,clinicians, doctors, etc.) may develop, publish, and store applications(e.g., as containers) for performing image processing and/or inferencingon supplied data. In at least one embodiment, development, publishing,and/or storing may be performed using a software development kit (SDK)associated with a system (e.g., to ensure that an application and/orcontainer developed is compliant with or compatible with a system). Inat least one embodiment, an application that is developed may be testedlocally (e.g., at a first facility, on data from a first facility) withan SDK which may support at least some of services 3820 as a system(e.g., system 3900 of FIG. 39). In at least one embodiment, becauseDICOM objects may contain anywhere from one to hundreds of images orother data types, and due to a variation in data, a developer may beresponsible for managing (e.g., setting constructs for, buildingpre-processing into an application, etc.) extraction and preparation ofincoming DICOM data. In at least one embodiment, once validated bysystem 3900 (e.g., for accuracy, safety, patient privacy, etc.), anapplication may be available in a container registry for selectionand/or implementation by a user (e.g., a hospital, clinic, lab,healthcare provider, etc.) to perform one or more processing tasks withrespect to data at a facility (e.g., a second facility) of a user.

In at least one embodiment, developers may then share applications orcontainers through a network for access and use by users of a system(e.g., system 3900 of FIG. 39). In at least one embodiment, completedand validated applications or containers may be stored in a containerregistry and associated machine learning models may be stored in modelregistry 3824. In at least one embodiment, a requesting entity (e.g., auser at a medical facility)—who provides an inference or imageprocessing request—may browse a container registry and/or model registry3824 for an application, container, dataset, machine learning model,etc., select a desired combination of elements for inclusion in dataprocessing pipeline, and submit an imaging processing request. In atleast one embodiment, a request may include input data (and associatedpatient data, in some examples) that is necessary to perform a request,and/or may include a selection of application(s) and/or machine learningmodels to be executed in processing a request. In at least oneembodiment, a request may then be passed to one or more components ofdeployment system 3806 (e.g., a cloud) to perform processing of dataprocessing pipeline. In at least one embodiment, processing bydeployment system 3806 may include referencing selected elements (e.g.,applications, containers, models, etc.) from a container registry and/ormodel registry 3824. In at least one embodiment, once results aregenerated by a pipeline, results may be returned to a user for reference(e.g., for viewing in a viewing application suite executing on a local,on-premises workstation or terminal). In at least one embodiment, aradiologist may receive results from an data processing pipelineincluding any number of application and/or containers, where results mayinclude anomaly detection in X-rays, CT scans, MRIs, etc.

In at least one embodiment, to aid in processing or execution ofapplications or containers in pipelines, services 3820 may be leveraged.In at least one embodiment, services 3820 may include compute services,artificial intelligence (AI) services, visualization services, and/orother service types. In at least one embodiment, services 3820 mayprovide functionality that is common to one or more applications insoftware 3818, so functionality may be abstracted to a service that maybe called upon or leveraged by applications. In at least one embodiment,functionality provided by services 3820 may run dynamically and moreefficiently, while also scaling well by allowing applications to processdata in parallel (e.g., using a parallel computing platform 3930 (FIG.39)). In at least one embodiment, rather than each application thatshares a same functionality offered by a service 3820 being required tohave a respective instance of service 3820, service 3820 may be sharedbetween and among various applications. In at least one embodiment,services may include an inference server or engine that may be used forexecuting detection or segmentation tasks, as non-limiting examples. Inat least one embodiment, a model training service may be included thatmay provide machine learning model training and/or retrainingcapabilities. In at least one embodiment, a data augmentation servicemay further be included that may provide GPU accelerated data (e.g.,DICOM, RIS, CIS, REST compliant, RPC, raw, etc.) extraction, resizing,scaling, and/or other augmentation. In at least one embodiment, avisualization service may be used that may add image renderingeffects—such as ray-tracing, rasterization, denoising, sharpening,etc.—to add realism to two-dimensional (2D) and/or three-dimensional(3D) models. In at least one embodiment, virtual instrument services maybe included that provide for beam-forming, segmentation, inferencing,imaging, and/or support for other applications within pipelines ofvirtual instruments.

In at least one embodiment, where a service 3820 includes an AI service(e.g., an inference service), one or more machine learning modelsassociated with an application for anomaly detection (e.g., tumors,growth abnormalities, scarring, etc.) may be executed by calling upon(e.g., as an API call) an inference service (e.g., an inference server)to execute machine learning model(s), or processing thereof, as part ofapplication execution. In at least one embodiment, where anotherapplication includes one or more machine learning models forsegmentation tasks, an application may call upon an inference service toexecute machine learning models for performing one or more of processingoperations associated with segmentation tasks. In at least oneembodiment, software 3818 implementing advanced processing andinferencing pipeline that includes segmentation application and anomalydetection application may be streamlined because each application maycall upon a same inference service to perform one or more inferencingtasks.

In at least one embodiment, hardware 3822 may include GPUs, CPUs,graphics cards, an AI/deep learning system (e.g., an AI supercomputer,such as NVIDIA's DGX supercomputer system), a cloud platform, or acombination thereof. In at least one embodiment, different types ofhardware 3822 may be used to provide efficient, purpose-built supportfor software 3818 and services 3820 in deployment system 3806. In atleast one embodiment, use of GPU processing may be implemented forprocessing locally (e.g., at facility 3802), within an AI/deep learningsystem, in a cloud system, and/or in other processing components ofdeployment system 3806 to improve efficiency, accuracy, and efficacy ofimage processing, image reconstruction, segmentation, MM exams, strokeor heart attack detection (e.g., in real-time), image quality inrendering, etc. In at least one embodiment, a facility may includeimaging devices, genomics devices, sequencing devices, and/or otherdevice types on-premises that may leverage GPUs to generate imaging datarepresentative of a subject's anatomy.

In at least one embodiment, software 3818 and/or services 3820 may beoptimized for GPU processing with respect to deep learning, machinelearning, and/or high-performance computing, as non-limiting examples.In at least one embodiment, at least some of computing environment ofdeployment system 3806 and/or training system 3804 may be executed in adatacenter one or more supercomputers or high performance computingsystems, with GPU optimized software (e.g., hardware and softwarecombination of NVIDIA's DGX system). In at least one embodiment,datacenters may be compliant with provisions of HIPAA, such thatreceipt, processing, and transmission of imaging data and/or otherpatient data is securely handled with respect to privacy of patientdata. In at least one embodiment, hardware 3822 may include any numberof GPUs that may be called upon to perform processing of data inparallel, as described herein. In at least one embodiment, cloudplatform may further include GPU processing for GPU-optimized executionof deep learning tasks, machine learning tasks, or other computingtasks. In at least one embodiment, cloud platform (e.g., NVIDIA's NGC)may be executed using an AI/deep learning supercomputer(s) and/orGPU-optimized software (e.g., as provided on NVIDIA's DGX systems) as ahardware abstraction and scaling platform. In at least one embodiment,cloud platform may integrate an application container clustering systemor orchestration system (e.g., KUBERNETES) on multiple GPUs to enableseamless scaling and load balancing.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 39 is a system diagram for an example system 3900 for generatingand deploying an imaging deployment pipeline, in accordance with atleast one embodiment. In at least one embodiment, system 3900 may beused to implement process 3800 of FIG. 38 and/or other processesincluding advanced processing and inferencing pipelines. In at least oneembodiment, system 3900 may include training system 3804 and deploymentsystem 3806. In at least one embodiment, training system 3804 anddeployment system 3806 may be implemented using software 3818, services3820, and/or hardware 3822, as described herein.

In at least one embodiment, system 3900 (e.g., training system 3804and/or deployment system 3806) may implemented in a cloud computingenvironment (e.g., using cloud 3926). In at least one embodiment, system3900 may be implemented locally with respect to a healthcare servicesfacility, or as a combination of both cloud and local computingresources. In at least one embodiment, in embodiments where cloudcomputing is implemented, patient data may be separated from, orunprocessed by, by one or more components of system 3900 that wouldrender processing non-compliant with HIPAA and/or other data handlingand privacy regulations or laws. In at least one embodiment, access toAPIs in cloud 3926 may be restricted to authorized users through enactedsecurity measures or protocols. In at least one embodiment, a securityprotocol may include web tokens that may be signed by an authentication(e.g., AuthN, AuthZ, Gluecon, etc.) service and may carry appropriateauthorization. In at least one embodiment, APIs of virtual instruments(described herein), or other instantiations of system 3900, may berestricted to a set of public IPs that have been vetted or authorizedfor interaction.

In at least one embodiment, various components of system 3900 maycommunicate between and among one another using any of a variety ofdifferent network types, including but not limited to local areanetworks (LANs) and/or wide area networks (WANs) via wired and/orwireless communication protocols. In at least one embodiment,communication between facilities and components of system 3900 (e.g.,for transmitting inference requests, for receiving results of inferencerequests, etc.) may be communicated over a data bus or data busses,wireless data protocols (Wi-Fi), wired data protocols (e.g., Ethernet),etc.

In at least one embodiment, training system 3804 may execute trainingpipelines 3904, similar to those described herein with respect to FIG.38. In at least one embodiment, where one or more machine learningmodels are to be used in deployment pipelines 3910 by deployment system3806, training pipelines 3904 may be used to train or retrain one ormore (e.g., pre-trained) models, and/or implement one or more ofpre-trained models 3906 (e.g., without a need for retraining orupdating). In at least one embodiment, as a result of training pipelines3904, output model(s) 3816 may be generated. In at least one embodiment,training pipelines 3904 may include any number of processing steps, suchas but not limited to imaging data (or other input data) conversion oradaption (e.g., using DICOM adapter 3902A to convert DICOM images toanother format suitable for processing by respective machine learningmodels, such as Neuroimaging Informatics Technology Initiative (NIfTI)format), AI-assisted annotation 3810, labeling or annotating of imagingdata 3808 to generate labeled clinic data 3812, model selection from amodel registry, model training 3814, training, retraining, or updatingmodels, and/or other processing steps. In at least one embodiment, fordifferent machine learning models used by deployment system 3806,different training pipelines 3904 may be used. In at least oneembodiment, training pipeline 3904 similar to a first example describedwith respect to FIG. 38 may be used for a first machine learning model,training pipeline 3904 similar to a second example described withrespect to FIG. 38 may be used for a second machine learning model, andtraining pipeline 3904 similar to a third example described with respectto FIG. 38 may be used for a third machine learning model. In at leastone embodiment, any combination of tasks within training system 3804 maybe used depending on what is required for each respective machinelearning model. In at least one embodiment, one or more of machinelearning models may already be trained and ready for deployment somachine learning models may not undergo any processing by trainingsystem 3804, and may be implemented by deployment system 3806.

In at least one embodiment, output model(s) 3816 and/or pre-trainedmodel(s) 3906 may include any types of machine learning models dependingon implementation or embodiment. In at least one embodiment, and withoutlimitation, machine learning models used by system 3900 may includemachine learning model(s) using linear regression, logistic regression,decision trees, support vector machines (SVM), Naïve Bayes, k-nearestneighbor (Knn), K means clustering, random forest, dimensionalityreduction algorithms, gradient boosting algorithms, neural networks(e.g., auto-encoders, convolutional, recurrent, perceptrons, Long/ShortTerm Memory (LSTM), Hopfield, Boltzmann, deep belief, deconvolutional,generative adversarial, liquid state machine, etc.), and/or other typesof machine learning models.

In at least one embodiment, training pipelines 3904 may includeAI-assisted annotation, as described in more detail herein with respectto at least FIG. 42B. In at least one embodiment, labeled clinic data3812 (e.g., traditional annotation) may be generated by any number oftechniques. In at least one embodiment, labels or other annotations maybe generated within a drawing program (e.g., an annotation program), acomputer aided design (CAD) program, a labeling program, another type ofprogram suitable for generating annotations or labels for ground truth,and/or may be hand drawn, in some examples. In at least one embodiment,ground truth data may be synthetically produced (e.g., generated fromcomputer models or renderings), real produced (e.g., designed andproduced from real-world data), machine-automated (e.g., using featureanalysis and learning to extract features from data and then generatelabels), human annotated (e.g., labeler, or annotation expert, defineslocation of labels), and/or a combination thereof. In at least oneembodiment, for each instance of imaging data 3808 (or other data typeused by machine learning models), there may be corresponding groundtruth data generated by training system 3804. In at least oneembodiment, AI-assisted annotation may be performed as part ofdeployment pipelines 3910; either in addition to, or in lieu ofAI-assisted annotation included in training pipelines 3904. In at leastone embodiment, system 3900 may include a multi-layer platform that mayinclude a software layer (e.g., software 3818) of diagnosticapplications (or other application types) that may perform one or moremedical imaging and diagnostic functions. In at least one embodiment,system 3900 may be communicatively coupled to (e.g., via encryptedlinks) PACS server networks of one or more facilities. In at least oneembodiment, system 3900 may be configured to access and referenced data(e.g., DICOM data, RIS data, raw data, CIS data, REST compliant data,RPC data, raw data, etc.) from PACS servers (e.g., via a DICOM adapter3902, or another data type adapter such as RIS, CIS, REST compliant,RPC, raw, etc.) to perform operations, such as training machine learningmodels, deploying machine learning models, image processing,inferencing, and/or other operations.

In at least one embodiment, a software layer may be implemented as asecure, encrypted, and/or authenticated API through which applicationsor containers may be invoked (e.g., called) from an externalenvironment(s) (e.g., facility 3802). In at least one embodiment,applications may then call or execute one or more services 3820 forperforming compute, AI, or visualization tasks associated withrespective applications, and software 3818 and/or services 3820 mayleverage hardware 3822 to perform processing tasks in an effective andefficient manner.

In at least one embodiment, deployment system 3806 may executedeployment pipelines 3910. In at least one embodiment, deploymentpipelines 3910 may include any number of applications that may besequentially, non-sequentially, or otherwise applied to imaging data(and/or other data types) generated by imaging devices, sequencingdevices, genomics devices, etc.—including AI-assisted annotation, asdescribed above. In at least one embodiment, as described herein, adeployment pipeline 3910 for an individual device may be referred to asa virtual instrument for a device (e.g., a virtual ultrasoundinstrument, a virtual CT scan instrument, a virtual sequencinginstrument, etc.). In at least one embodiment, for a single device,there may be more than one deployment pipeline 3910 depending oninformation desired from data generated by a device. In at least oneembodiment, where detections of anomalies are desired from an MMmachine, there may be a first deployment pipeline 3910, and where imageenhancement is desired from output of an MRI machine, there may be asecond deployment pipeline 3910.

In at least one embodiment, applications available for deploymentpipelines 3910 may include any application that may be used forperforming processing tasks on imaging data or other data from devices.In at least one embodiment, different applications may be responsiblefor image enhancement, segmentation, reconstruction, anomaly detection,object detection, feature detection, treatment planning, dosimetry, beamplanning (or other radiation treatment procedures), and/or otheranalysis, image processing, or inferencing tasks. In at least oneembodiment, deployment system 3806 may define constructs for each ofapplications, such that users of deployment system 3806 (e.g., medicalfacilities, labs, clinics, etc.) may understand constructs and adaptapplications for implementation within their respective facility. In atleast one embodiment, an application for image reconstruction may beselected for inclusion in deployment pipeline 3910, but data typegenerated by an imaging device may be different from a data type usedwithin an application. In at least one embodiment, DICOM adapter 3902B(and/or a DICOM reader) or another data type adapter or reader (e.g.,RIS, CIS, REST compliant, RPC, raw, etc.) may be used within deploymentpipeline 3910 to convert data to a form useable by an application withindeployment system 3806. In at least one embodiment, access to DICOM,RIS, CIS, REST compliant, RPC, raw, and/or other data type libraries maybe accumulated and pre-processed, including decoding, extracting, and/orperforming any convolutions, color corrections, sharpness, gamma, and/orother augmentations to data. In at least one embodiment, DICOM, RIS,CIS, REST compliant, RPC, and/or raw data may be unordered and apre-pass may be executed to organize or sort collected data. In at leastone embodiment, because various applications may share common imageoperations, in some embodiments, a data augmentation library (e.g., asone of services 3820) may be used to accelerate these operations. In atleast one embodiment, to avoid bottlenecks of conventional processingapproaches that rely on CPU processing, parallel computing platform 3930may be used for GPU acceleration of these processing tasks.

In at least one embodiment, an image reconstruction application mayinclude a processing task that includes use of a machine learning model.In at least one embodiment, a user may desire to use their own machinelearning model, or to select a machine learning model from modelregistry 3824. In at least one embodiment, a user may implement theirown machine learning model or select a machine learning model forinclusion in an application for performing a processing task. In atleast one embodiment, applications may be selectable and customizable,and by defining constructs of applications, deployment andimplementation of applications for a particular user are presented as amore seamless user experience. In at least one embodiment, by leveragingother features of system 3900—such as services 3820 and hardware3822—deployment pipelines 3910 may be even more user friendly, providefor easier integration, and produce more accurate, efficient, and timelyresults.

In at least one embodiment, deployment system 3806 may include a userinterface 3914 (e.g., a graphical user interface, a web interface, etc.)that may be used to select applications for inclusion in deploymentpipeline(s) 3910, arrange applications, modify or change applications orparameters or constructs thereof, use and interact with deploymentpipeline(s) 3910 during set-up and/or deployment, and/or to otherwiseinteract with deployment system 3806. In at least one embodiment,although not illustrated with respect to training system 3804, userinterface 3914 (or a different user interface) may be used for selectingmodels for use in deployment system 3806, for selecting models fortraining, or retraining, in training system 3804, and/or for otherwiseinteracting with training system 3804.

In at least one embodiment, pipeline manager 3912 may be used, inaddition to an application orchestration system 3928, to manageinteraction between applications or containers of deployment pipeline(s)3910 and services 3820 and/or hardware 3822. In at least one embodiment,pipeline manager 3912 may be configured to facilitate interactions fromapplication to application, from application to service 3820, and/orfrom application or service to hardware 3822. In at least oneembodiment, although illustrated as included in software 3818, this isnot intended to be limiting, and in some examples (e.g., as illustratedin FIG. 40) pipeline manager 3912 may be included in services 3820. Inat least one embodiment, application orchestration system 3928 (e.g.,Kubernetes, DOCKER, etc.) may include a container orchestration systemthat may group applications into containers as logical units forcoordination, management, scaling, and deployment. In at least oneembodiment, by associating applications from deployment pipeline(s) 3910(e.g., a reconstruction application, a segmentation application, etc.)with individual containers, each application may execute in aself-contained environment (e.g., at a kernel level) to increase speedand efficiency.

In at least one embodiment, each application and/or container (or imagethereof) may be individually developed, modified, and deployed (e.g., afirst user or developer may develop, modify, and deploy a firstapplication and a second user or developer may develop, modify, anddeploy a second application separate from a first user or developer),which may allow for focus on, and attention to, a task of a singleapplication and/or container(s) without being hindered by tasks ofanother application(s) or container(s). In at least one embodiment,communication, and cooperation between different containers orapplications may be aided by pipeline manager 3912 and applicationorchestration system 3928. In at least one embodiment, so long as anexpected input and/or output of each container or application is knownby a system (e.g., based on constructs of applications or containers),application orchestration system 3928 and/or pipeline manager 3912 mayfacilitate communication among and between, and sharing of resourcesamong and between, each of applications or containers. In at least oneembodiment, because one or more of applications or containers indeployment pipeline(s) 3910 may share same services and resources,application orchestration system 3928 may orchestrate, load balance, anddetermine sharing of services or resources between and among variousapplications or containers. In at least one embodiment, a scheduler maybe used to track resource requirements of applications or containers,current usage or planned usage of these resources, and resourceavailability. In at least one embodiment, a scheduler may thus allocateresources to different applications and distribute resources between andamong applications in view of requirements and availability of a system.In some examples, a scheduler (and/or other component of applicationorchestration system 3928) may determine resource availability anddistribution based on constraints imposed on a system (e.g., userconstraints), such as quality of service (QoS), urgency of need for dataoutputs (e.g., to determine whether to execute real-time processing ordelayed processing), etc.

In at least one embodiment, services 3820 leveraged by and shared byapplications or containers in deployment system 3806 may include computeservices 3916, AI services 3918, visualization services 3920, and/orother service types. In at least one embodiment, applications may call(e.g., execute) one or more of services 3820 to perform processingoperations for an application. In at least one embodiment, computeservices 3916 may be leveraged by applications to performsuper-computing or other high-performance computing (HPC) tasks. In atleast one embodiment, compute service(s) 3916 may be leveraged toperform parallel processing (e.g., using a parallel computing platform3930) for processing data through one or more of applications and/or oneor more tasks of a single application, substantially simultaneously. Inat least one embodiment, parallel computing platform 3930 (e.g.,NVIDIA's CUDA) may enable general purpose computing on GPUs (GPGPU)(e.g., GPUs 3922). In at least one embodiment, a software layer ofparallel computing platform 3930 may provide access to virtualinstruction sets and parallel computational elements of GPUs, forexecution of compute kernels. In at least one embodiment, parallelcomputing platform 3930 may include memory and, in some embodiments, amemory may be shared between and among multiple containers, and/orbetween and among different processing tasks within a single container.In at least one embodiment, inter-process communication (IPC) calls maybe generated for multiple containers and/or for multiple processeswithin a container to use same data from a shared segment of memory ofparallel computing platform 3930 (e.g., where multiple different stagesof an application or multiple applications are processing sameinformation). In at least one embodiment, rather than making a copy ofdata and moving data to different locations in memory (e.g., aread/write operation), same data in same location of a memory may beused for any number of processing tasks (e.g., at a same time, atdifferent times, etc.). In at least one embodiment, as data is used togenerate new data as a result of processing, this information of a newlocation of data may be stored and shared between various applications.In at least one embodiment, location of data and a location of updatedor modified data may be part of a definition of how a payload isunderstood within containers.

In at least one embodiment, AI services 3918 may be leveraged to performinferencing services for executing machine learning model(s) associatedwith applications (e.g., tasked with performing one or more processingtasks of an application). In at least one embodiment, AI services 3918may leverage AI system 3924 to execute machine learning model(s) (e.g.,neural networks, such as CNNs) for segmentation, reconstruction, objectdetection, feature detection, classification, and/or other inferencingtasks. In at least one embodiment, applications of deploymentpipeline(s) 3910 may use one or more of output models 3816 from trainingsystem 3804 and/or other models of applications to perform inference onimaging data (e.g., DICOM data, RIS data, CIS data, REST compliant data,RPC data, raw data, etc.). In at least one embodiment, two or moreexamples of inferencing using application orchestration system 3928(e.g., a scheduler) may be available. In at least one embodiment, afirst category may include a high priority/low latency path that mayachieve higher service level agreements, such as for performinginference on urgent requests during an emergency, or for a radiologistduring diagnosis. In at least one embodiment, a second category mayinclude a standard priority path that may be used for requests that maybe non-urgent or where analysis may be performed at a later time. In atleast one embodiment, application orchestration system 3928 maydistribute resources (e.g., services 3820 and/or hardware 3822) based onpriority paths for different inferencing tasks of AI services 3918.

In at least one embodiment, shared storage may be mounted to AI services3918 within system 3900. In at least one embodiment, shared storage mayoperate as a cache (or other storage device type) and may be used toprocess inference requests from applications. In at least oneembodiment, when an inference request is submitted, a request may bereceived by a set of API instances of deployment system 3806, and one ormore instances may be selected (e.g., for best fit, for load balancing,etc.) to process a request. In at least one embodiment, to process arequest, a request may be entered into a database, a machine learningmodel may be located from model registry 3824 if not already in a cache,a validation step may ensure appropriate machine learning model isloaded into a cache (e.g., shared storage), and/or a copy of a model maybe saved to a cache. In at least one embodiment, a scheduler (e.g., ofpipeline manager 3912) may be used to launch an application that isreferenced in a request if an application is not already running or ifthere are not enough instances of an application. In at least oneembodiment, if an inference server is not already launched to execute amodel, an inference server may be launched. In at least one embodiment,any number of inference servers may be launched per model. In at leastone embodiment, in a pull model, in which inference servers areclustered, models may be cached whenever load balancing is advantageous.In at least one embodiment, inference servers may be statically loadedin corresponding, distributed servers.

In at least one embodiment, inferencing may be performed using aninference server that runs in a container. In at least one embodiment,an instance of an inference server may be associated with a model (andoptionally a plurality of versions of a model). In at least oneembodiment, if an instance of an inference server does not exist when arequest to perform inference on a model is received, a new instance maybe loaded. In at least one embodiment, when starting an inferenceserver, a model may be passed to an inference server such that a samecontainer may be used to serve different models so long as inferenceserver is running as a different instance.

In at least one embodiment, during application execution, an inferencerequest for a given application may be received, and a container (e.g.,hosting an instance of an inference server) may be loaded (if notalready), and a start procedure may be called. In at least oneembodiment, pre-processing logic in a container may load, decode, and/orperform any additional pre-processing on incoming data (e.g., using aCPU(s) and/or GPU(s)). In at least one embodiment, once data is preparedfor inference, a container may perform inference as necessary on data.In at least one embodiment, this may include a single inference call onone image (e.g., a hand X-ray), or may require inference on hundreds ofimages (e.g., a chest CT). In at least one embodiment, an applicationmay summarize results before completing, which may include, withoutlimitation, a single confidence score, pixel level-segmentation,voxel-level segmentation, generating a visualization, or generating textto summarize findings. In at least one embodiment, different models orapplications may be assigned different priorities. For example, somemodels may have a real-time (TAT less than one minute) priority whileothers may have lower priority (e.g., TAT less than 10 minutes). In atleast one embodiment, model execution times may be measured fromrequesting institution or entity and may include partner networktraversal time, as well as execution on an inference service.

In at least one embodiment, transfer of requests between services 3820and inference applications may be hidden behind a software developmentkit (SDK), and robust transport may be provide through a queue. In atleast one embodiment, a request will be placed in a queue via an API foran individual application/tenant ID combination and an SDK will pull arequest from a queue and give a request to an application. In at leastone embodiment, a name of a queue may be provided in an environment fromwhere an SDK will pick it up. In at least one embodiment, asynchronouscommunication through a queue may be useful as it may allow any instanceof an application to pick up work as it becomes available. In at leastone embodiment, results may be transferred back through a queue, toensure no data is lost. In at least one embodiment, queues may alsoprovide an ability to segment work, as highest priority work may go to aqueue with most instances of an application connected to it, whilelowest priority work may go to a queue with a single instance connectedto it that processes tasks in an order received. In at least oneembodiment, an application may run on a GPU-accelerated instancegenerated in cloud 3926, and an inference service may performinferencing on a GPU.

In at least one embodiment, visualization services 3920 may be leveragedto generate visualizations for viewing outputs of applications and/ordeployment pipeline(s) 3910. In at least one embodiment, GPUs 3922 maybe leveraged by visualization services 3920 to generate visualizations.In at least one embodiment, rendering effects, such as ray-tracing, maybe implemented by visualization services 3920 to generate higher qualityvisualizations. In at least one embodiment, visualizations may include,without limitation, 2D image renderings, 3D volume renderings, 3D volumereconstruction, 2D tomographic slices, virtual reality displays,augmented reality displays, etc. In at least one embodiment, virtualizedenvironments may be used to generate a virtual interactive display orenvironment (e.g., a virtual environment) for interaction by users of asystem (e.g., doctors, nurses, radiologists, etc.). In at least oneembodiment, visualization services 3920 may include an internalvisualizer, cinematics, and/or other rendering or image processingcapabilities or functionality (e.g., ray tracing, rasterization,internal optics, etc.).

In at least one embodiment, hardware 3822 may include GPUs 3922, AIsystem 3924, cloud 3926, and/or any other hardware used for executingtraining system 3804 and/or deployment system 3806. In at least oneembodiment, GPUs 3922 (e.g., NVIDIA's TESLA and/or QUADRO GPUs) mayinclude any number of GPUs that may be used for executing processingtasks of compute services 3916, AI services 3918, visualization services3920, other services, and/or any of features or functionality ofsoftware 3818. For example, with respect to AI services 3918, GPUs 3922may be used to perform pre-processing on imaging data (or other datatypes used by machine learning models), post-processing on outputs ofmachine learning models, and/or to perform inferencing (e.g., to executemachine learning models). In at least one embodiment, cloud 3926, AIsystem 3924, and/or other components of system 3900 may use GPUs 3922.In at least one embodiment, cloud 3926 may include a GPU-optimizedplatform for deep learning tasks. In at least one embodiment, AI system3924 may use GPUs, and cloud 3926—or at least a portion tasked with deeplearning or inferencing—may be executed using one or more AI systems3924. As such, although hardware 3822 is illustrated as discretecomponents, this is not intended to be limiting, and any components ofhardware 3822 may be combined with, or leveraged by, any othercomponents of hardware 3822.

In at least one embodiment, AI system 3924 may include a purpose-builtcomputing system (e.g., a super-computer or an HPC) configured forinferencing, deep learning, machine learning, and/or other artificialintelligence tasks. In at least one embodiment, AI system 3924 (e.g.,NVIDIA's DGX) may include GPU-optimized software (e.g., a softwarestack) that may be executed using a plurality of GPUs 3922, in additionto CPUs, RAM, storage, and/or other components, features, orfunctionality. In at least one embodiment, one or more AI systems 3924may be implemented in cloud 3926 (e.g., in a data center) for performingsome or all of AI-based processing tasks of system 3900.

In at least one embodiment, cloud 3926 may include a GPU-acceleratedinfrastructure (e.g., NVIDIA's NGC) that may provide a GPU-optimizedplatform for executing processing tasks of system 3900. In at least oneembodiment, cloud 3926 may include an AI system(s) 3924 for performingone or more of AI-based tasks of system 3900 (e.g., as a hardwareabstraction and scaling platform). In at least one embodiment, cloud3926 may integrate with application orchestration system 3928 leveragingmultiple GPUs to enable seamless scaling and load balancing between andamong applications and services 3820. In at least one embodiment, cloud3926 may tasked with executing at least some of services 3820 of system3900, including compute services 3916, AI services 3918, and/orvisualization services 3920, as described herein. In at least oneembodiment, cloud 3926 may perform small and large batch inference(e.g., executing NVIDIA's TENSOR RT), provide an accelerated parallelcomputing API and platform 3930 (e.g., NVIDIA's CUDA), executeapplication orchestration system 3928 (e.g., KUBERNETES), provide agraphics rendering API and platform (e.g., for ray-tracing, 2D graphics,3D graphics, and/or other rendering techniques to produce higher qualitycinematics), and/or may provide other functionality for system 3900.

In at least one embodiment, in an effort to preserve patientconfidentiality (e.g., where patient data or records are to be usedoff-premises), cloud 3926 may include a registry—such as a deep learningcontainer registry. In at least one embodiment, a registry may storecontainers for instantiations of applications that may performpre-processing, post-processing, or other processing tasks on patientdata. In at least one embodiment, cloud 3926 may receive data thatincludes patient data as well as sensor data in containers, performrequested processing for just sensor data in those containers, and thenforward a resultant output and/or visualizations to appropriate partiesand/or devices (e.g., on-premises medical devices used for visualizationor diagnoses), all without having to extract, store, or otherwise accesspatient data. In at least one embodiment, confidentiality of patientdata is preserved in compliance with HIPAA and/or other dataregulations.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 40 includes an example illustration of a deployment pipeline 3910Afor processing imaging data, in accordance with at least one embodiment.In at least one embodiment, system 3900—and specifically deploymentsystem 3806—may be used to customize, update, and/or integratedeployment pipeline(s) 3910A into one or more production environments.In at least one embodiment, deployment pipeline 3910A of FIG. 40includes a non-limiting example of a deployment pipeline 3910A that maybe custom defined by a particular user (or team of users) at a facility(e.g., at a hospital, clinic, lab, research environment, etc.). In atleast one embodiment, to define deployment pipelines 3910A for a CTscanner 4002, a user may select—from a container registry, forexample—one or more applications that perform specific functions ortasks with respect to imaging data generated by CT scanner 4002. In atleast one embodiment, applications may be applied to deployment pipeline3910A as containers that may leverage services 3820 and/or hardware 3822of system 3900. In addition, deployment pipeline 3910A may includeadditional processing tasks or applications that may be implemented toprepare data for use by applications (e.g., DICOM adapter 3902B andDICOM reader 4006 may be used in deployment pipeline 3910A to preparedata for use by CT reconstruction 4008, organ segmentation 4010, etc.).In at least one embodiment, deployment pipeline 3910A may be customizedor selected for consistent deployment, one time use, or for anotherfrequency or interval. In at least one embodiment, a user may desire tohave CT reconstruction 4008 and organ segmentation 4010 for severalsubjects over a specific interval, and thus may deploy pipeline 3910Afor that period of time. In at least one embodiment, a user may select,for each request from system 3900, applications that a user wants toperform processing on that data for that request. In at least oneembodiment, deployment pipeline 3910A may be adjusted at any intervaland, because of adaptability and scalability of a container structurewithin system 3900, this may be a seamless process.

In at least one embodiment, deployment pipeline 3910A of FIG. 40 mayinclude CT scanner 4002 generating imaging data of a patient or subject.In at least one embodiment, imaging data from CT scanner 4002 may bestored on a PACS server(s) 4004 associated with a facility housing CTscanner 4002. In at least one embodiment, PACS server(s) 4004 mayinclude software and/or hardware components that may directly interfacewith imaging modalities (e.g., CT scanner 4002) at a facility. In atleast one embodiment, DICOM adapter 3902B may enable sending and receiptof DICOM objects using DICOM protocols. In at least one embodiment,DICOM adapter 3902B may aid in preparation or configuration of DICOMdata from PACS server(s) 4004 for use by deployment pipeline 3910A. Inat least one embodiment, once DICOM data is processed through DICOMadapter 3902B, pipeline manager 3912 may route data through todeployment pipeline 3910A. In at least one embodiment, DICOM reader 4006may extract image files and any associated metadata from DICOM data(e.g., raw sinogram data, as illustrated in visualization 4016A). In atleast one embodiment, working files that are extracted may be stored ina cache for faster processing by other applications in deploymentpipeline 3910A. In at least one embodiment, once DICOM reader 4006 hasfinished extracting and/or storing data, a signal of completion may becommunicated to pipeline manager 3912. In at least one embodiment,pipeline manager 3912 may then initiate or call upon one or more otherapplications or containers in deployment pipeline 3910A.

In at least one embodiment, CT reconstruction 4008 application and/orcontainer may be executed once data (e.g., raw sinogram data) isavailable for processing by CT reconstruction 4008 application. In atleast one embodiment, CT reconstruction 4008 may read raw sinogram datafrom a cache, reconstruct an image file out of raw sinogram data (e.g.,as illustrated in visualization 4016B), and store resulting image filein a cache. In at least one embodiment, at completion of reconstruction,pipeline manager 3912 may be signaled that reconstruction task iscomplete. In at least one embodiment, once reconstruction is complete,and a reconstructed image file may be stored in a cache (or otherstorage device), organ segmentation 4010 application and/or containermay be triggered by pipeline manager 3912. In at least one embodiment,organ segmentation 4010 application and/or container may read an imagefile from a cache, normalize or convert an image file to format suitablefor inference (e.g., convert an image file to an input resolution of amachine learning model), and run inference against a normalized image.In at least one embodiment, to run inference on a normalized image,organ segmentation 4010 application and/or container may rely onservices 3820, and pipeline manager 3912 and/or applicationorchestration system 3928 may facilitate use of services 3820 by organsegmentation 4010 application and/or container. In at least oneembodiment, for example, organ segmentation 4010 application and/orcontainer may leverage AI services 3918 to perform inference on anormalized image, and AI services 3918 may leverage hardware 3822 (e.g.,AI system 3924) to execute AI services 3918. In at least one embodiment,a result of an inference may be a mask file (e.g., as illustrated invisualization 4016C) that may be stored in a cache (or other storagedevice).

In at least one embodiment, once applications that process DICOM dataand/or data extracted from DICOM data have completed processing, asignal may be generated for pipeline manager 3912. In at least oneembodiment, pipeline manager 3912 may then execute DICOM writer 4012 toread results from a cache (or other storage device), package resultsinto a DICOM format (e.g., as DICOM output 4014) for use by users at afacility who generated a request. In at least one embodiment, DICOMoutput 4014 may then be transmitted to DICOM adapter 3902B to prepareDICOM output 4014 for storage on PACS server(s) 4004 (e.g., for viewingby a DICOM viewer at a facility). In at least one embodiment, inresponse to a request for reconstruction and segmentation,visualizations 4016B and 4016C may be generated and available to a userfor diagnoses, research, and/or for other purposes.

Although illustrated as consecutive application in deployment pipeline3910A, CT reconstruction 4008 and organ segmentation 4010 applicationsmay be processed in parallel in at least one embodiment. In at least oneembodiment, where applications do not have dependencies on one another,and data is available for each application (e.g., after DICOM reader4006 extracts data), applications may be executed at a same time,substantially at a same time, or with some overlap. In at least oneembodiment, where two or more applications require similar services3820, a scheduler of system 3900 may be used to load balance anddistribute compute or processing resources between and among variousapplications. In at least one embodiment, in some embodiments, parallelcomputing platform 3930 may be used to perform parallel processing forapplications to decrease run-time of deployment pipeline 3910A toprovide real-time results.

In at least one embodiment, and with reference to FIGS. 41A-41B,deployment system 3806 may be implemented as one or more virtualinstruments to perform different functionalities—such as imageprocessing, segmentation, enhancement, AI, visualization, andinferencing—with imaging devices (e.g., CT scanners, X-ray machines, MRImachines, etc.), sequencing devices, genomics devices, and/or otherdevice types. In at least one embodiment, system 3900 may allow forcreation and provision of virtual instruments that may include asoftware-defined deployment pipeline 3910 that may receiveraw/unprocessed input data generated by a device(s) and outputprocessed/reconstructed data. In at least one embodiment, deploymentpipelines 3910 (e.g., 3910A and 3910B) that represent virtualinstruments may implement intelligence into a pipeline, such as byleveraging machine learning models, to provide containerized inferencesupport to a system. In at least one embodiment, virtual instruments mayexecute any number of containers each including instantiations ofapplications. In at least one embodiment, such as where real-timeprocessing is desired, deployment pipelines 3910 representing virtualinstruments may be static (e.g., containers and/or applications may beset), while in other examples, container and/or applications for virtualinstruments may be selected (e.g., on a per-request basis) from a poolof applications or resources (e.g., within a container registry).

In at least one embodiment, system 3900 may be instantiated or executedas one or more virtual instruments on-premise at a facility in, forexample, a computing system deployed next to or otherwise incommunication with a radiology machine, an imaging device, and/oranother device type at a facility. In at least one embodiment, however,an on-premise installation may be instantiated or executed within acomputing system of a device itself (e.g., a computing system integralto an imaging device), in a local datacenter (e.g., a datacenteron-premise), and/or in a cloud-environment (e.g., in cloud 3926). In atleast one embodiment, deployment system 3806, operating as a virtualinstrument, may be instantiated by a supercomputer or other HPC systemin some examples. In at least one embodiment, on-premise installationmay allow for high-bandwidth uses (via, for example, higher throughputlocal communication interfaces, such as RF over Ethernet) for real-timeprocessing. In at least one embodiment, real-time or near real-timeprocessing may be particularly useful where a virtual instrumentsupports an ultrasound device or other imaging modality where immediatevisualizations are expected or required for accurate diagnoses andanalyses. In at least one embodiment, a cloud-computing architecture maybe capable of dynamic bursting to a cloud computing service provider, orother compute cluster, when local demand exceeds on-premise capacity orcapability. In at least one embodiment, a cloud architecture, whenimplemented, may be tuned for training neural networks or other machinelearning models, as described herein with respect to training system3804. In at least one embodiment, with training pipelines in place,machine learning models may be continuously learn and improve as theyprocess additional data from devices they support. In at least oneembodiment, virtual instruments may be continually improved usingadditional data, new data, existing machine learning models, and/or newor updated machine learning models.

In at least one embodiment, a computing system may include some or allof hardware 3822 described herein, and hardware 3822 may be distributedin any of a number of ways including within a device, as part of acomputing device coupled to and located proximate a device, in a localdatacenter at a facility, and/or in cloud 3926. In at least oneembodiment, because deployment system 3806 and associated applicationsor containers are created in software (e.g., as discrete containerizedinstantiations of applications), behavior, operation, and configurationof virtual instruments, as well as outputs generated by virtualinstruments, may be modified or customized as desired, without having tochange or alter raw output of a device that a virtual instrumentsupports.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 41A includes an example data flow diagram of a virtual instrumentsupporting an ultrasound device, in accordance with at least oneembodiment. In at least one embodiment, deployment pipeline 3910B mayleverage one or more of services 3820 of system 3900. In at least oneembodiment, deployment pipeline 3910B and services 3820 may leveragehardware 3822 of a system either locally or in cloud 3926. In at leastone embodiment, although not illustrated, process 4100 may befacilitated by pipeline manager 3912, application orchestration system3928, and/or parallel computing platform 3930.

In at least one embodiment, process 4100 may include receipt of imagingdata from an ultrasound device 4102. In at least one embodiment, imagingdata may be stored on PACS server(s) in a DICOM format (or other format,such as RIS, CIS, REST compliant, RPC, raw, etc.), and may be receivedby system 3900 for processing through deployment pipeline 3910 selectedor customized as a virtual instrument (e.g., a virtual ultrasound) forultrasound device 4102. In at least one embodiment, imaging data may bereceived directly from an imaging device (e.g., ultrasound device 4102)and processed by a virtual instrument. In at least one embodiment, atransducer or other signal converter communicatively coupled between animaging device and a virtual instrument may convert signal datagenerated by an imaging device to image data that may be processed by avirtual instrument. In at least one embodiment, raw data and/or imagedata may be applied to DICOM reader 4006 to extract data for use byapplications or containers of deployment pipeline 3910B. In at least oneembodiment, DICOM reader 4006 may leverage data augmentation library4114 (e.g., NVIDIA's DALI) as a service 3820 (e.g., as one of computeservice(s) 3916) for extracting, resizing, rescaling, and/or otherwisepreparing data for use by applications or containers.

In at least one embodiment, once data is prepared, a reconstruction 4106application and/or container may be executed to reconstruct data fromultrasound device 4102 into an image file. In at least one embodiment,after reconstruction 4106, or at a same time as reconstruction 4106, adetection 4108 application and/or container may be executed for anomalydetection, object detection, feature detection, and/or other detectiontasks related to data. In at least one embodiment, an image filegenerated during reconstruction 4106 may be used during detection 4108to identify anomalies, objects, features, etc. In at least oneembodiment, detection 4108 application may leverage an inference engine4116 (e.g., as one of AI service(s) 3918) to perform inference on datato generate detections. In at least one embodiment, one or more machinelearning models (e.g., from training system 3804) may be executed orcalled by detection 4108 application.

In at least one embodiment, once reconstruction 4106 and/or detection4108 is/are complete, data output from these application and/orcontainers may be used to generate visualizations 4110, such asvisualization 4112 (e.g., a grayscale output) displayed on a workstationor display terminal. In at least one embodiment, visualization may allowa technician or other user to visualize results of deployment pipeline3910B with respect to ultrasound device 4102. In at least oneembodiment, visualization 4110 may be executed by leveraging a rendercomponent 4118 of system 3900 (e.g., one of visualization service(s)3920). In at least one embodiment, render component 4118 may execute a2D, OpenGL, or ray-tracing service to generate visualization 4112.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 41B includes an example data flow diagram of a virtual instrumentsupporting a CT scanner, in accordance with at least one embodiment. Inat least one embodiment, deployment pipeline 3910C may leverage one ormore of services 3820 of system 3900. In at least one embodiment,deployment pipeline 3910C and services 3820 may leverage hardware 3822of a system either locally or in cloud 3926. In at least one embodiment,although not illustrated, process 4120 may be facilitated by pipelinemanager 3912, application orchestration system 3928, and/or parallelcomputing platform 3930.

In at least one embodiment, process 4120 may include CT scanner 4122generating raw data that may be received by DICOM reader 4006 (e.g.,directly, via a PACS server 4004, after processing, etc.). In at leastone embodiment, a Virtual CT (instantiated by deployment pipeline 3910C)may include a first, real-time pipeline for monitoring a patient (e.g.,patient movement detection AI 4126) and/or for adjusting or optimizingexposure of CT scanner 4122 (e.g., using exposure control AI 4124). Inat least one embodiment, one or more of applications (e.g., 4124 and4126) may leverage a service 3820, such as AI service(s) 3918. In atleast one embodiment, outputs of exposure control AI 4124 application(or container) and/or patient movement detection AI 4126 application (orcontainer) may be used as feedback to CT scanner 4122 and/or atechnician for adjusting exposure (or other settings of CT scanner 4122)and/or informing a patient to move less.

In at least one embodiment, deployment pipeline 3910C may include anon-real-time pipeline for analyzing data generated by CT scanner 4122.In at least one embodiment, a second pipeline may include CTreconstruction 4008 application and/or container, a coarse detection AI4128 application and/or container, a fine detection AI 4132 applicationand/or container (e.g., where certain results are detected by coarsedetection AI 4128), a visualization 4130 application and/or container,and a DICOM writer 4012 (and/or other data type writer, such as RIS,CIS, REST compliant, RPC, raw, etc.) application and/or container. In atleast one embodiment, raw data generated by CT scanner 4122 may bepassed through pipelines of deployment pipeline 3910C (instantiated as avirtual CT instrument) to generate results. In at least one embodiment,results from DICOM writer 4012 may be transmitted for display and/or maybe stored on PACS server(s) 4004 for later retrieval, analysis, ordisplay by a technician, practitioner, or other user.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 42A illustrates a data flow diagram for a process 4200 to train,retrain, or update a machine learning model, in accordance with at leastone embodiment. In at least one embodiment, process 4200 may be executedusing, as a non-limiting example, system 3900 of FIG. 39. In at leastone embodiment, process 4200 may leverage services 3820 and/or hardware3822 of system 3900, as described herein. In at least one embodiment,refined models 4212 generated by process 4200 may be executed bydeployment system 3806 for one or more containerized applications indeployment pipelines 3910.

In at least one embodiment, model training 3814 may include retrainingor updating an initial model 4204 (e.g., a pre-trained model) using newtraining data (e.g., new input data, such as customer dataset 4206,and/or new ground truth data associated with input data). In at leastone embodiment, to retrain, or update, initial model 4204, output orloss layer(s) of initial model 4204 may be reset, or deleted, and/orreplaced with an updated or new output or loss layer(s). In at least oneembodiment, initial model 4204 may have previously fine-tuned parameters(e.g., weights and/or biases) that remain from prior training, sotraining or retraining 3814 may not take as long or require as muchprocessing as training a model from scratch. In at least one embodiment,during model training 3814, by having reset or replaced output or losslayer(s) of initial model 4204, parameters may be updated and re-tunedfor a new data set based on loss calculations associated with accuracyof output or loss layer(s) at generating predictions on new, customerdataset 4206 (e.g., image data 3808 of FIG. 38).

In at least one embodiment, pre-trained models 3906 may be stored in adata store, or registry (e.g., model registry 3824 of FIG. 38). In atleast one embodiment, pre-trained models 3906 may have been trained, atleast in part, at one or more facilities other than a facility executingprocess 4200. In at least one embodiment, to protect privacy and rightsof patients, subjects, or clients of different facilities, pre-trainedmodels 3906 may have been trained, on-premise, using customer or patientdata generated on-premise. In at least one embodiment, pre-trainedmodels 3906 may be trained using cloud 3926 and/or other hardware 3822,but confidential, privacy protected patient data may not be transferredto, used by, or accessible to any components of cloud 3926 (or other offpremise hardware). In at least one embodiment, where a pre-trained model3906 is trained at using patient data from more than one facility,pre-trained model 3906 may have been individually trained for eachfacility prior to being trained on patient or customer data from anotherfacility. In at least one embodiment, such as where a customer orpatient data has been released of privacy concerns (e.g., by waiver, forexperimental use, etc.), or where a customer or patient data is includedin a public data set, a customer or patient data from any number offacilities may be used to train pre-trained model 3906 on-premise and/oroff premise, such as in a datacenter or other cloud computinginfrastructure.

In at least one embodiment, when selecting applications for use indeployment pipelines 3910, a user may also select machine learningmodels to be used for specific applications. In at least one embodiment,a user may not have a model for use, so a user may select a pre-trainedmodel 3906 to use with an application. In at least one embodiment,pre-trained model 3906 may not be optimized for generating accurateresults on customer dataset 4206 of a facility of a user (e.g., based onpatient diversity, demographics, types of medical imaging devices used,etc.). In at least one embodiment, prior to deploying pre-trained model3906 into deployment pipeline 3910 for use with an application(s),pre-trained model 3906 may be updated, retrained, and/or fine-tuned foruse at a respective facility.

In at least one embodiment, a user may select pre-trained model 3906that is to be updated, retrained, and/or fine-tuned, and pre-trainedmodel 3906 may be referred to as initial model 4204 for training system3804 within process 4200. In at least one embodiment, customer dataset4206 (e.g., imaging data, genomics data, sequencing data, or other datatypes generated by devices at a facility) may be used to perform modeltraining 3814 (which may include, without limitation, transfer learning)on initial model 4204 to generate refined model 4212. In at least oneembodiment, ground truth data corresponding to customer dataset 4206 maybe generated by training system 3804. In at least one embodiment, groundtruth data may be generated, at least in part, by clinicians,scientists, doctors, practitioners, at a facility (e.g., as labeledclinic data 3812 of FIG. 38).

In at least one embodiment, AI-assisted annotation 3810 may be used insome examples to generate ground truth data. In at least one embodiment,AI-assisted annotation 3810 (e.g., implemented using an AI-assistedannotation SDK) may leverage machine learning models (e.g., neuralnetworks) to generate suggested or predicted ground truth data for acustomer dataset. In at least one embodiment, user 4210 may useannotation tools within a user interface (a graphical user interface(GUI)) on computing device 4208.

In at least one embodiment, user 4210 may interact with a GUI viacomputing device 4208 to edit or fine-tune annotations orauto-annotations. In at least one embodiment, a polygon editing featuremay be used to move vertices of a polygon to more accurate or fine-tunedlocations.

In at least one embodiment, once customer dataset 4206 has associatedground truth data, ground truth data (e.g., from AI-assisted annotation,manual labeling, etc.) may be used by during model training 3814 togenerate refined model 4212. In at least one embodiment, customerdataset 4206 may be applied to initial model 4204 any number of times,and ground truth data may be used to update parameters of initial model4204 until an acceptable level of accuracy is attained for refined model4212. In at least one embodiment, once refined model 4212 is generated,refined model 4212 may be deployed within one or more deploymentpipelines 3910 at a facility for performing one or more processing taskswith respect to medical imaging data.

In at least one embodiment, refined model 4212 may be uploaded topre-trained models 3906 in model registry 3824 to be selected by anotherfacility. In at least one embodiment, his process may be completed atany number of facilities such that refined model 4212 may be furtherrefined on new datasets any number of times to generate a more universalmodel.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

FIG. 42B is an example illustration of a client-server architecture 4232to enhance annotation tools with pre-trained annotation models, inaccordance with at least one embodiment. In at least one embodiment,AI-assisted annotation tools 4236 may be instantiated based on aclient-server architecture 4232. In at least one embodiment, annotationtools 4236 in imaging applications may aid radiologists, for example,identify organs and abnormalities. In at least one embodiment, imagingapplications may include software tools that help user 4210 to identify,as a non-limiting example, a few extreme points on a particular organ ofinterest in raw images 4234 (e.g., in a 3D MRI or CT scan) and receiveauto-annotated results for all 2D slices of a particular organ. In atleast one embodiment, results may be stored in a data store as trainingdata 4238 and used as (for example and without limitation) ground truthdata for training. In at least one embodiment, when computing device4208 sends extreme points for AI-assisted annotation 3810, a deeplearning model, for example, may receive this data as input and returninference results of a segmented organ or abnormality. In at least oneembodiment, pre-instantiated annotation tools, such as AI-AssistedAnnotation Tool 4236B in FIG. 42B, may be enhanced by making API calls(e.g., API Call 4244) to a server, such as an Annotation AssistantServer 4240 that may include a set of pre-trained models 4242 stored inan annotation model registry, for example. In at least one embodiment,an annotation model registry may store pre-trained models 4242 (e.g.,machine learning models, such as deep learning models) that arepre-trained to perform AI-assisted annotation on a particular organ orabnormality. In at least one embodiment, these models may be furtherupdated by using training pipelines 3904. In at least one embodiment,pre-installed annotation tools may be improved over time as new labeledclinic data 3812 is added.

Inference and/or training logic 915 are used to perform inferencingand/or training operations associated with one or more embodiments.Details regarding inference and/or training logic 915 are providedherein in conjunction with FIGS. 9A and/or 9B.

In at least one embodiment, one or more circuits, processors, computingsystems, or other devices or techniques are adapted, with reference tosaid figure, to cause one or more neural networks to be trained toidentify one or more forces to be applied to one or more objects based,at least in part, on training data corresponding to two or more aspectsof motion of the one or more objects In at least one embodiment, this isperformed by embodiments of said figure, according to techniques andembodiments described herein in relation to preceding FIGS. 1-8.

At least one embodiment of the disclosure can be described in view ofthe following clauses:

-   -   1. A processor, comprising:        -   one or more circuits to cause one or more neural networks to            be trained to identify one or more forces to be applied to            one or more objects based, at least in part, on training            data corresponding to two or more aspects of motion of the            one or more objects.    -   2. The processor of clause 1, wherein the one or more forces are        applied to one or more joints of one or more objects to cause        the one or more objects to move in accordance with a        physics-based simulation.    -   3. The processor of clauses 1 or 2, wherein the training data is        used to train the one or more neural networks in accordance with        a hierarchy of the training data organized according to        specialization of the aspects of motion.    -   4. The processor of clause 3, wherein the one or more neural        networks are trained by randomly selecting aspects of motion        from a first level of the hierarchy, followed by randomly        selecting aspects of motion from a second level of the hierarchy        below the first level.    -   5. The processor of any of clauses 1-4, wherein an episode of        training the one or more neural networks is terminated when any        one of a plurality of reward terms falls below a threshold        level.    -   6. The processor of any of clauses 1-5, wherein a training        episode is initialized to a state based on a frame of motion        that is displaced by one or more frames from a starting frame of        video data comprising an example of an aspect of motion.    -   7. The processor of any of clauses 1-6, wherein variance of        joints associated with a model of the one or more objects decays        during training in accordance with a scheduled decay of        variance.    -   8. The processor of any of clauses 1-7, wherein the one or more        neural networks comprise a motion executor to be trained to        generate one or more amounts of force to apply to one or more        joints of the one or more objects, based at least in part on a        target state of the one or more objects supplied as input to the        motion executor.    -   9. A system, comprising:        -   one or more processors to train one or more neural networks            to identify one or more forces to be applied to one or more            objects based, at least in part, on training data            corresponding to two or more aspects of motion of the one or            more objects.    -   10. The system of clause 9, wherein the one or more forces are        applied to one or more joints of the one or more objects.    -   11. The system of clause 9 or 10, the one or more processors to        train the one or more neural networks using aspects of motion        taken from the training data in accordance with a hierarchy        organized according to specialization of the aspects of motion.    -   12. The system of clause 11, the one or more processors to train        the one or more neural networks by randomly selecting aspects of        motion from a first level of the hierarchy, followed by randomly        selecting aspects of motion from a second level of the hierarchy        below the first level.    -   13. The system of any of clauses 9-12, the one or more        processors to terminate an episode of training the one or more        neural networks based, at least in part, on any one of a        plurality of reward terms falling below a threshold level during        the episode.    -   14. The system of any of clauses 9-13, the one or more        processors to initialize a training episode to a state based on        a frame of motion that is displaced by one or more frames from a        starting frame of an example of an aspect of motion.    -   15. The system of any of clauses 9-14, wherein variance of a        joint of the one or more objects decays during training in        accordance with a scheduled decay of control variance.    -   16. The system of clause 15, wherein a range of control variance        of a first joint of the one or more objects is initially set to        an amount less than variance of a second joint.    -   17. A method, comprising:        -   training one or more neural networks to identify one or more            forces to be applied to one or more objects based, at least            in part, on training data corresponding to two or more            aspects of motion of the one or more objects.    -   18. The method of clause 17, wherein the one or more forces        comprise amounts of torque to be applied to one or more joints        of the one or more objects.    -   19. The method of clause 17 or 18, further comprising:        -   organizing the training data into a hierarchy based, at            least in part, on specialization of aspects of motion            demonstrated in the training data; and        -   training the one or more neural networks using one or more            randomly selected examples of aspects of motion            corresponding to a first level of the hierarchy, and            subsequently training the one or more neural networks using            one or more randomly selected examples of aspects of motion            corresponding to a second level of the hierarchy, the second            level below the first level in the hierarchy.    -   20. The method of any of clauses 17-19, further comprising:        -   terminating an episode of training the one or more neural            networks based, at least in part, on any one of a plurality            of reward terms falling below a threshold level during the            episode.    -   21. The method of any of clauses 17-20, further comprising:        -   initializing a training episode to a state based on a frame            of motion that is displaced by one or more frames from a            starting frame of an example of an aspect of motion.    -   22. The method of any of clauses 17-21, wherein control variance        of a joint of the one or more objects is decays during training.    -   23. The method of any of clauses 17-22, wherein a range of        control variance of a first joint of the one or more objects is        initially set to an amount less than variance of a second joint.    -   24. A machine-readable medium having stored thereon        instructions, which if performed by one or more processors,        cause the one or more processors to at least:        -   train one or more neural networks to determine one or more            forces to be applied to one or more objects to animate the            one or more objects, the one or more neural networks trained            based, at least in part, on training data corresponding to            two or more aspects of motion of the one or more objects.    -   25. The machine-readable medium of clause 24, having stored        thereon further instructions, which if performed by one or more        processors, cause the one or more processors to at least:        -   terminate an episode of training the one or more neural            networks based, at least in part, on any one of a plurality            of reward terms falling below a threshold level during the            episode.    -   26. The machine-readable medium of clause 24 or 25, having        stored thereon further instructions, which if performed by one        or more processors, cause the one or more processors to at        least:        -   initialize a training episode to a state based on a frame of            motion that is displaced by one or more frames from a            starting frame of an example of an aspect of motion.    -   27. The machine-readable medium of any of clauses 24-26, wherein        the one or more neural networks comprise a motion executor.    -   28. The machine-readable medium of clause 27, wherein the motion        executor is driven by target states generated by a video stream        scheduler, wherein the video stream scheduler generates the        target states based, at least in part, on video of a moving        subject.    -   29. The machine-readable medium of any of clauses clause 27-28,        wherein the motion executor is driven by target states generated        by a command stream scheduler that generates the target states        based on user input.    -   30. The machine-readable medium of any of clauses 27-29, wherein        the motion executor is driven by target states generated by a        motion-stitching scheduler.    -   31. A method, comprising:        -   training a first one or more neural networks to identify one            or more forces to be applied to one or more objects based,            at least in part, on training data corresponding to two or            more aspects of motion of the one or more objects;        -   training a second one or more neural networks based on a            simulation generated based, at least in part, on output of            the first one or more neural networks.

In at least one embodiment, a single semiconductor platform may refer toa sole unitary semiconductor-based integrated circuit or chip. In atleast one embodiment, multi-chip modules may be used with increasedconnectivity which simulate on-chip operation, and make substantialimprovements over utilizing a conventional central processing unit(“CPU”) and bus implementation. In at least one embodiment, variousmodules may also be situated separately or in various combinations ofsemiconductor platforms per desires of user.

In at least one embodiment, referring back to FIG. 15, computer programsin form of machine-readable executable code or computer control logicalgorithms are stored in main memory 1504 and/or secondary storage.Computer programs, if executed by one or more processors, enable system1500 to perform various functions in accordance with at least oneembodiment. In at least one embodiment, memory 1504, storage, and/or anyother storage are possible examples of computer-readable media. In atleast one embodiment, secondary storage may refer to any suitablestorage device or system such as a hard disk drive and/or a removablestorage drive, representing a floppy disk drive, a magnetic tape drive,a compact disk drive, digital versatile disk (“DVD”) drive, recordingdevice, universal serial bus (“USB”) flash memory, etc. In at least oneembodiment, architecture and/or functionality of various previousfigures are implemented in context of CPU 1502, parallel processingsystem 1512, an integrated circuit capable of at least a portion ofcapabilities of both CPU 1502, parallel processing system 1512, achipset (e.g., a group of integrated circuits designed to work and soldas a unit for performing related functions, etc.), and/or any suitablecombination of integrated circuit(s).

In at least one embodiment, architecture and/or functionality of variousprevious figures are implemented in context of a general computersystem, a circuit board system, a game console system dedicated forentertainment purposes, an application-specific system, and more. In atleast one embodiment, computer system 1500 may take form of a desktopcomputer, a laptop computer, a tablet computer, servers, supercomputers,a smart-phone (e.g., a wireless, hand-held device), personal digitalassistant (“PDA”), a digital camera, a vehicle, a head mounted display,a hand-held electronic device, a mobile phone device, a television,workstation, game consoles, embedded system, and/or any other type oflogic.

In at least one embodiment, parallel processing system 1512 includes,without limitation, a plurality of parallel processing units (“PPUs”)1514 and associated memories 1516. In at least one embodiment, PPUs 1514are connected to a host processor or other peripheral devices via aninterconnect 1518 and a switch 1520 or multiplexer. In at least oneembodiment, parallel processing system 1512 distributes computationaltasks across PPUs 1514 which can be parallelizable—for example, as partof distribution of computational tasks across multiple graphicsprocessing unit (“GPU”) thread blocks. In at least one embodiment,memory is shared and accessible (e.g., for read and/or write access)across some or all of PPUs 1514, although such shared memory may incurperformance penalties relative to use of local memory and registersresident to a PPU 1514. In at least one embodiment, operation of PPUs1514 is synchronized through use of a command such as syncthreads( ),wherein all threads in a block (e.g., executed across multiple PPUs1514) to reach a certain point of execution of code before proceeding.

Other variations are within spirit of present disclosure. Thus, whiledisclosed techniques are susceptible to various modifications andalternative constructions, certain illustrated embodiments thereof areshown in drawings and have been described above in detail. It should beunderstood, however, that there is no intention to limit disclosure tospecific form or forms disclosed, but on contrary, intention is to coverall modifications, alternative constructions, and equivalents fallingwithin spirit and scope of disclosure, as defined in appended claims.

Use of terms “a” and “an” and “the” and similar referents in context ofdescribing disclosed embodiments (especially in context of followingclaims) are to be construed to cover both singular and plural, unlessotherwise indicated herein or clearly contradicted by context, and notas a definition of a term. Terms “comprising,” “having,” “including,”and “containing” are to be construed as open-ended terms (meaning“including, but not limited to,”) unless otherwise noted. “Connected,”when unmodified and referring to physical connections, is to beconstrued as partly or wholly contained within, attached to, or joinedtogether, even if there is something intervening. Recitation of rangesof values herein are merely intended to serve as a shorthand method ofreferring individually to each separate value falling within range,unless otherwise indicated herein and each separate value isincorporated into specification as if it were individually recitedherein. In at least one embodiment, use of term “set” (e.g., “a set ofitems”) or “subset” unless otherwise noted or contradicted by context,is to be construed as a nonempty collection comprising one or moremembers. Further, unless otherwise noted or contradicted by context,term “subset” of a corresponding set does not necessarily denote aproper subset of corresponding set, but subset and corresponding set maybe equal.

Conjunctive language, such as phrases of form “at least one of A, B, andC,” or “at least one of A, B and C,” unless specifically statedotherwise or otherwise clearly contradicted by context, is otherwiseunderstood with context as used in general to present that an item,term, etc., may be either A or B or C, or any nonempty subset of set ofA and B and C. For instance, in illustrative example of a set havingthree members, conjunctive phrases “at least one of A, B, and C” and “atleast one of A, B and C” refer to any of following sets: {A}, {B}, {C},{A, B}, {A, C}, {B, C}, {A, B, C}. Thus, such conjunctive language isnot generally intended to imply that certain embodiments require atleast one of A, at least one of B and at least one of C each to bepresent. In addition, unless otherwise noted or contradicted by context,term “plurality” indicates a state of being plural (e.g., “a pluralityof items” indicates multiple items). In at least one embodiment, numberof items in a plurality is at least two, but can be more when soindicated either explicitly or by context. Further, unless statedotherwise or otherwise clear from context, phrase “based on” means“based at least in part on” and not “based solely on.”

Operations of processes described herein can be performed in anysuitable order unless otherwise indicated herein or otherwise clearlycontradicted by context. In at least one embodiment, a process such asthose processes described herein (or variations and/or combinationsthereof) is performed under control of one or more computer systemsconfigured with executable instructions and is implemented as code(e.g., executable instructions, one or more computer programs or one ormore applications) executing collectively on one or more processors, byhardware or combinations thereof. In at least one embodiment, code isstored on a computer-readable storage medium, for example, in form of acomputer program comprising a plurality of instructions executable byone or more processors. In at least one embodiment, a computer-readablestorage medium is a non-transitory computer-readable storage medium thatexcludes transitory signals (e.g., a propagating transient electric orelectromagnetic transmission) but includes non-transitory data storagecircuitry (e.g., buffers, cache, and queues) within transceivers oftransitory signals. In at least one embodiment, code (e.g., executablecode or source code) is stored on a set of one or more non-transitorycomputer-readable storage media having stored thereon executableinstructions (or other memory to store executable instructions) that,when executed (i.e., as a result of being executed) by one or moreprocessors of a computer system, cause computer system to performoperations described herein. In at least one embodiment, set ofnon-transitory computer-readable storage media comprises multiplenon-transitory computer-readable storage media and one or more ofindividual non-transitory storage media of multiple non-transitorycomputer-readable storage media lack all of code while multiplenon-transitory computer-readable storage media collectively store all ofcode. In at least one embodiment, executable instructions are executedsuch that different instructions are executed by differentprocessors—for example, a non-transitory computer-readable storagemedium store instructions and a main central processing unit (“CPU”)executes some of instructions while a graphics processing unit (“GPU”)executes other instructions. In at least one embodiment, differentcomponents of a computer system have separate processors and differentprocessors execute different subsets of instructions.

Accordingly, in at least one embodiment, computer systems are configuredto implement one or more services that singly or collectively performoperations of processes described herein and such computer systems areconfigured with applicable hardware and/or software that enableperformance of operations. Further, a computer system that implements atleast one embodiment of present disclosure is a single device and, inanother embodiment, is a distributed computer system comprising multipledevices that operate differently such that distributed computer systemperforms operations described herein and such that a single device doesnot perform all operations.

Use of any and all examples, or exemplary language (e.g., “such as”)provided herein, is intended merely to better illuminate embodiments ofdisclosure and does not pose a limitation on scope of disclosure unlessotherwise claimed. No language in specification should be construed asindicating any non-claimed element as essential to practice ofdisclosure.

All references, including publications, patent applications, andpatents, cited herein are hereby incorporated by reference to sameextent as if each reference were individually and specifically indicatedto be incorporated by reference and were set forth in its entiretyherein.

In description and claims, terms “coupled” and “connected,” along withtheir derivatives, may be used. It should be understood that these termsmay be not intended as synonyms for each other. Rather, in particularexamples, “connected” or “coupled” may be used to indicate that two ormore elements are in direct or indirect physical or electrical contactwith each other. “Coupled” may also mean that two or more elements arenot in direct contact with each other, but yet still co-operate orinteract with each other.

Unless specifically stated otherwise, it may be appreciated thatthroughout specification terms such as “processing,” “computing,”“calculating,” “determining,” or like, refer to action and/or processesof a computer or computing system, or similar electronic computingdevice, that manipulate and/or transform data represented as physical,such as electronic, quantities within computing system's registersand/or memories into other data similarly represented as physicalquantities within computing system's memories, registers or other suchinformation storage, transmission or display devices.

In a similar manner, term “processor” may refer to any device or portionof a device that processes electronic data from registers and/or memoryand transform that electronic data into other electronic data that maybe stored in registers and/or memory. As non-limiting examples,“processor” may be a CPU or a GPU. A “computing platform” may compriseone or more processors. As used herein, “software” processes mayinclude, for example, software and/or hardware entities that performwork over time, such as tasks, threads, and intelligent agents. Also,each process may refer to multiple processes, for carrying outinstructions in sequence or in parallel, continuously or intermittently.In at least one embodiment, terms “system” and “method” are used hereininterchangeably insofar as system may embody one or more methods andmethods may be considered a system.

In present document, references may be made to obtaining, acquiring,receiving, or inputting analog or digital data into a subsystem,computer system, or computer-implemented machine. In at least oneembodiment, process of obtaining, acquiring, receiving, or inputtinganalog and digital data can be accomplished in a variety of ways such asby receiving data as a parameter of a function call or a call to anapplication programming interface. In at least one embodiment, processesof obtaining, acquiring, receiving, or inputting analog or digital datacan be accomplished by transferring data via a serial or parallelinterface. In at least one embodiment, processes of obtaining,acquiring, receiving, or inputting analog or digital data can beaccomplished by transferring data via a computer network from providingentity to acquiring entity. In at least one embodiment, references mayalso be made to providing, outputting, transmitting, sending, orpresenting analog or digital data. In various examples, processes ofproviding, outputting, transmitting, sending, or presenting analog ordigital data can be accomplished by transferring data as an input oroutput parameter of a function call, a parameter of an applicationprogramming interface or interprocess communication mechanism.

Although descriptions herein set forth example implementations ofdescribed techniques, other architectures may be used to implementdescribed functionality, and are intended to be within scope of thisdisclosure. Furthermore, although specific distributions ofresponsibilities may be defined above for purposes of description,various functions and responsibilities might be distributed and dividedin different ways, depending on circumstances.

Furthermore, although subject matter has been described in languagespecific to structural features and/or methodological acts, it is to beunderstood that subject matter claimed in appended claims is notnecessarily limited to specific features or acts described. Rather,specific features and acts are disclosed as exemplary forms ofimplementing the claims.

What is claimed is:
 1. A processor, comprising: one or more circuits tocause one or more neural networks to be trained to identify one or moreforces to be applied to one or more objects based, at least in part, ontraining data corresponding to two or more aspects of motion of the oneor more objects.
 2. The processor of claim 1, wherein the one or moreforces are applied to one or more joints of one or more objects to causethe one or more objects to move in accordance with a physics-basedsimulation.
 3. The processor of claim 1, wherein the training data isused to train the one or more neural networks in accordance with ahierarchy of the training data organized according to specialization ofthe aspects of motion.
 4. The processor of claim 3, wherein the one ormore neural networks are trained by randomly selecting aspects of motionfrom a first level of the hierarchy, followed by randomly selectingaspects of motion from a second level of the hierarchy below the firstlevel.
 5. The processor of claim 1, wherein an episode of training theone or more neural networks is terminated when any one of a plurality ofreward terms falls below a threshold level.
 6. The processor of claim 1,wherein a training episode is initialized to a state based on a frame ofmotion that is displaced by one or more frames from a starting frame ofvideo data comprising an example of an aspect of motion.
 7. Theprocessor of claim 1, wherein variance of joints associated with a modelof the one or more objects decays during training in accordance with ascheduled decay of variance.
 8. The processor of claim 1, wherein theone or more neural networks comprise a motion executor to be trained togenerate one or more amounts of force to apply to one or more joints ofthe one or more objects, based at least in part on a target state of theone or more objects supplied as input to the motion executor.
 9. Asystem, comprising: one or more processors to train one or more neuralnetworks to identify one or more forces to be applied to one or moreobjects based, at least in part, on training data corresponding to twoor more aspects of motion of the one or more objects.
 10. The system ofclaim 9, wherein the one or more forces are applied to one or morejoints of the one or more objects.
 11. The system of claim 9, the one ormore processors to train the one or more neural networks using aspectsof motion taken from the training data in accordance with a hierarchyorganized according to specialization of the aspects of motion.
 12. Thesystem of claim 11, the one or more processors to train the one or moreneural networks by randomly selecting aspects of motion from a firstlevel of the hierarchy, followed by randomly selecting aspects of motionfrom a second level of the hierarchy below the first level.
 13. Thesystem of claim 9, the one or more processors to terminate an episode oftraining the one or more neural networks based, at least in part, on anyone of a plurality of reward terms falling below a threshold levelduring the episode.
 14. The system of claim 9, the one or moreprocessors to initialize a training episode to a state based on a frameof motion that is displaced by one or more frames from a starting frameof an example of an aspect of motion.
 15. The system of claim 9, whereinvariance of a joint of the one or more objects decays during training inaccordance with a scheduled decay of control variance.
 16. The system ofclaim 15, wherein a range of control variance of a first joint of theone or more objects is initially set to an amount less than variance ofa second joint.
 17. A method, comprising: training one or more neuralnetworks to identify one or more forces to be applied to one or moreobjects based, at least in part, on training data corresponding to twoor more aspects of motion of the one or more objects.
 18. The method ofclaim 17, wherein the one or more forces comprise amounts of torque tobe applied to one or more joints of the one or more objects.
 19. Themethod of claim 17, further comprising: organizing the training datainto a hierarchy based, at least in part, on specialization of aspectsof motion demonstrated in the training data; and training the one ormore neural networks using one or more randomly selected examples ofaspects of motion corresponding to a first level of the hierarchy, andsubsequently training the one or more neural networks using one or morerandomly selected examples of aspects of motion corresponding to asecond level of the hierarchy, the second level below the first level inthe hierarchy.
 20. The method of claim 17, further comprising:terminating an episode of training the one or more neural networksbased, at least in part, on any one of a plurality of reward termsfalling below a threshold level during the episode.
 21. The method ofclaim 17, further comprising: initializing a training episode to a statebased on a frame of motion that is displaced by one or more frames froma starting frame of an example of an aspect of motion.
 22. The method ofclaim 17, wherein control variance of a joint of the one or more objectsis decays during training.
 23. The method of claim 17, wherein a rangeof control variance of a first joint of the one or more objects isinitially set to an amount less than variance of a second joint.
 24. Amachine-readable medium having stored thereon instructions, which ifperformed by one or more processors, cause the one or more processors toat least: train one or more neural networks to determine one or moreforces to be applied to one or more objects to animate the one or moreobjects, the one or more neural networks trained based, at least inpart, on training data corresponding to two or more aspects of motion ofthe one or more objects.
 25. The machine-readable medium of claim 24,having stored thereon further instructions, which if performed by one ormore processors, cause the one or more processors to at least: terminatean episode of training the one or more neural networks based, at leastin part, on any one of a plurality of reward terms falling below athreshold level during the episode.
 26. The machine-readable medium ofclaim 24, having stored thereon further instructions, which if performedby one or more processors, cause the one or more processors to at least:initialize a training episode to a state based on a frame of motion thatis displaced by one or more frames from a starting frame of an exampleof an aspect of motion.
 27. The machine-readable medium of claim 24,wherein the one or more neural networks comprise a motion executor. 28.The machine-readable medium of claim 27, wherein the motion executor isdriven by target states generated by a video stream scheduler, whereinthe video stream scheduler generates the target states based, at leastin part, on video of a moving subject.
 29. The machine-readable mediumof claim 27, wherein the motion executor is driven by target statesgenerated by a command stream scheduler that generates the target statesbased on user input.
 30. The machine-readable medium of claim 27,wherein the motion executor is driven by target states generated by amotion-stitching scheduler.